Metro-WM: Long-Horizon Latent Planning with Realisable Sub-Goals

arXiv cs.AISeptember 29, 2026en

arXiv cs.AI

AI Global Wire

arXiv:2609.31868v1 Announce Type: new Abstract: Model-predictive control with Joint-Embedding Predictive Architectures (JEPAs) provides a strong zero-shot goal-reaching planner, but it is only effective over short planning horizons. Hierarchical extensions attempt to bridge this gap by learning a macro planner to predict intermediate latent sub-goals to guide the micro planner. In this work, we demonstrate that unconstrained latent sub-goal prediction is fundamentally flawed. A rigorous evaluation reveals that a leading state-of-the-art macro planner routinely emits physically unrealisable sub-goals. To resolve this, we introduce Metro-WM, a hierarchical framework that issues sub-goals by re

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