Compositional Foundation Models (HiP)

Hierarchical planning: Uses separate foundation models for language (high-level plans), vision (grounding), and action (execution) that compose into a hierarchical planner.

Long-horizon goals: Targets goals requiring dozens of subgoals - a regime where monolithic policies typically fail.

Training-free composition: Composes existing pretrained models at inference time without joint training, dramatically reducing the compute cost of long-horizon agents.

Robotics relevance: Demonstrates the approach on robotic manipulation tasks, pointing toward practical long-horizon embodied-AI systems.