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For complex embodiments, action spaces are high-dimensional and difficult to specify: for example, precisely controlling a human agent requires specifying the motion of each joint. This makes the world model hard to control and expensive to plan with as search-based methods like CEM scale poorly with action dimensionality. To address this issue, we train a lightweight policy that maps high-level actions to sequences of low-level joint actions. Composing this policy with the frozen world model produces a lifted world model that predicts a sequence of future observations from a single high-level action. We instantiate this framework for a human-like embodiment, defining the high-level action space as a small set of 2D waypoints annotated on the current observation frame, each specifying a near-term goal position for a leaf joi","title":"Lifting Embodied World Models for Planning and Control","url":"https://arxiv.org/abs/2604.26182","vendor":"arxiv_cs_ai"},"summary":"arXiv:2604.26182v2 Announce Type: replace-cross \nAbstract: World models of embodied agents predict future observations conditioned on an action taken by the agent. For complex embodiments, action spaces are high-dimensional and difficult to specify: for example, precisely controlling a human agent requires specifying the motion of each joint. This makes the world model hard to control and expensive to plan with as search-based methods like CEM scale poorly with action dimensionality. To address this issue, we train a lightweight policy that maps high-level actions to sequences of low-level joint actions. Composing this policy with the frozen world model produces a lifted world model that predicts a sequence of future observations from a single high-level action. We instantiate this framework for a human-like embodiment, defining the high-level action space as a small set of 2D waypoints annotated on the current observation frame, each specifying a near-term goal position for a leaf joi","title":"Lifting Embodied World Models for Planning and Control","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-22T04:43:18Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2604.26182"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:643a80fafc2d073eb5307657dc869e2670cf3ce8d36a9c0f0c4378f45a74e176febb637f005cc1af4f8351e9a03019f7c45a24db958fb0c52a4ec3e54eecdd08","signer":"crovia.substrate","subject":{"observed_at":"2026-07-22T04:43:18Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2604.26182"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"c525ef7bd0641d7872404739c17c1ab194af37d1b6138f1f0f895a83e230232d","leaf_index":340406,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"526b9077e9ce056113f3a85126d8a3aebae78290b824c240ac3d1dd8a57f81a9","side":"right"},{"sibling":"b58f972fe923f5fde5d84de8fa550ac0fe8d2d24b95bbee659d630781f0b2668","side":"left"},{"sibling":"e5a1347e412fb96488d246b5ce6bf653dc6dd0d932e418980d7aa5ef43aff550","side":"left"},{"sibling":"51f78645f6b9fa735743251f0b037bab2aaf475d12745ce2e41dcf4e60c82b7c","side":"right"},{"sibling":"008988ebd422f0b5f20c51b0c54a8398f235a00a86692a7ad4309a09d2c27a2d","side":"left"},{"sibling":"0387640d1bd86930c3a475773f8be66543d7e35a50da52b38b1b8dff015cc327","side":"left"},{"sibling":"1a7746a9d2d9e8d0c0c963bb863236e36a37257d8f3cb326049f3125bab1b3b1","side":"right"},{"sibling":"5666268df88c3cf54274085bda986b69261da088d4bea21e6975025aadd566d3","side":"left"},{"sibling":"99d4b7aea5e7c917c580af0f1a9556bbd4d44f3f36cf9391892e7ef0340a8258","side":"left"},{"sibling":"c7fc9d4187cdc36f4c03b4b13daf4b880ea65536b051f71a5cc2543839d02697","side":"right"},{"sibling":"1758ec6ac206ce40e8368cb702195322fe3737d0fb03d8bd9e3b30acc4fa7d81","side":"right"},{"sibling":"0c407f0d553cf3fab8f9bd79205b8180e090cbf29fa0490ebb55155041ad5c86","side":"right"},{"sibling":"2dd9cb2521044ee7c6b74f2315e0a0253b8df0d04a7b810bbbbe7da5a9788769","side":"left"},{"sibling":"21d66dd41003813f710b7617944f1bfba3258658a5d3370c21cad8f9e945bc99","side":"left"},{"sibling":"787ee3744642ff909d610b0514cb100784f0ef1ba0ef4c70a0dc91f0ab2bb192","side":"right"},{"sibling":"9fc8a8ebbc1bff7e62b9f1e1c681c91e7196092ce9551573df6e23096df13e4d","side":"right"},{"sibling":"77025bcb374a7ad74f520643e20a8ae1205a7ee78507b0beb93117760f1c29d3","side":"left"},{"sibling":"ee6f33920899d9bdef2eb706dfff29e26eea61e29ea9824c6c8e6bcd48275d76","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":340557,"merkle_root":"7d45d94f20b5bf82263df45b87749e19e06161972f25141dd573cc138d566338","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260722T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-22T05:38:39Z","sig_algorithm":"ed25519","signature":"812cb61e90d3582ba508db8515c4168bbf8ee1c6762885609049d012f680f8068f15c98b9accf2042047dcfc6a6fc3885820ee34b0be350846386f64f2591309","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_52498f359ff990ebb4c181fa5846bd009bb479e236c90d57aa75cfce20ff6ece"}}