End-to-End Learning of Hierarchical World Models for Visual Planning

A paper submitted to arXiv on 5 October 2026 introduces H-JEPA, an end-to-end recipe for training a hierarchy of action-conditioned JEPA world models in which each level predicts farther ahead in its own learned latent space. On the Visual AntMaze benchmark, a three-level H-JEPA hierarchy raised planning success from 18% to 73% while using less planner compute than a flat JEPA, and ablations attribute the gains to both temporal decomposition and higher-level goal representations. With inverse-dynamics supervision, the approach extended to real-robot videos from DROID, where the hierarchy improved offline planning fidelity at lower planner compute.

Computer Science Machine Learning Submitted on 5 Oct 2026 Title:H-JEPA: End-to-End Learning of Hierarchical World Models for Visual Planning View PDF https://arxiv.org/pdf/2610.06805 HTML experimental https://arxiv.org/html/2610.06805v1 Abstract:Long-horizon planning with latent world models requires reasoning across timescales and levels of abstraction. Existing task-agnostic JEPA world models predict and plan at a single timescale or with multiple horizons in one shared latent space. We introduce H-JEPA, an end-to-end recipe for training a hierarchy of action-conditioned JEPAs in which each level predicts farther ahead in its own learned latent space. Planning proceeds top-down: the top level optimizes progress toward the goal, and each level's predictions become subgoals for the planner below it. When factors in the data evolve at separated timescales, higher levels discard fast, unpredictable detail and retain slower task-relevant state. Across four simulated navigation and manipulation environments, hierarchical planning improves over a flat JEPA; on Visual AntMaze, a three-level hierarchy raises success from 18% to 73% using less planner compute. Ablations attribute these gains to both temporal decomposition and higher-level goal representations. With inverse-dynamics supervision, the approach extends to diverse real-robot videos from DROID, where hierarchy improves offline planning fidelity at lower planner compute. References & Citations Loading... Bibliographic and Citation Tools Bibliographic Explorer What is the Explorer? https://info.arxiv.org/labs/showcase.html arxiv-bibliographic-explorer Connected Papers What is Connected Papers? https://www.connectedpapers.com/about Litmaps What is Litmaps? https://www.litmaps.co/ scite Smart Citations What are Smart Citations? https://www.scite.ai/ Code, Data and Media Associated with this Article alphaXiv What is alphaXiv? https://alphaxiv.org/ CatalyzeX Code Finder for Papers What is CatalyzeX? https://www.catalyzex.com DagsHub What is DagsHub? https://dagshub.com/ Gotit.pub What is GotitPub? http://gotit.pub/faq Hugging Face What is Huggingface? https://huggingface.co/huggingface ScienceCast What is ScienceCast? https://sciencecast.org/welcome Demos Recommenders and Search Tools Influence Flower What are Influence Flowers? https://influencemap.cmlab.dev/ CORE Recommender What is CORE? https://core.ac.uk/services/recommender IArxiv Recommender What is IArxiv? https://iarxiv.org/about arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs https://info.arxiv.org/labs/index.html .