FlexiWorld: Learning and Planning via Flexible Action Chunks Across Multiple Time Scales
FlexiWorld, a JEPA-based world model that combines mixed-span goal supervision with variable-length action chunks to improve long-horizon control, is introduced and PushT ablations show improved direct control from mixed-span supervision, variable-length chunks, and Student Forcing.
Shi-Du Ren, Qi Gu, Zheng-Hao Ni et al.
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