Preprint
Aug 2026
hint$^2$: Hierarchical World Models for Inference-Time Temporal Logic Guidance
This paper introduces hint, a method for guiding short-horizon policies toward satisfying complex LTL specifications at inference time using hierarchical world models, and shows that hint$^2$ can handle complex instructions on a real UR5e manipulator.
Moritz Zoellner, Anastasios Manganaris, A. H. Qureshi et al.
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