hint$^2$: Hierarchical World Models for Inference-Time Temporal Logic Guidance

Excerpt

arXiv:2608.13678v1 Announce Type: cross Abstract: A central goal of robot learning is to enable robots to execute rich instructions specified at runtime. Large-scale language-conditioned policies have made substantial progress toward this goal, yet still struggle with temporal structure and safety constraints. Linear Temporal Logic (LTL) provides a powerful language to express complex, non-Markovian instructions. However, guiding learned manipulation policies toward LTL satisfaction remains chal