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24H Hot Tokens and Key News | Polymarket to Launch Perpetual Contracts; KelpDAO Attacker Transfers 507,000 ETH to New Address (April 22) | Bee Network

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When faced with multi-stage control, systems typically encounter two pressures. One is that prediction errors continuously accumulate during long rollouts (sequential multi-step simulation), causing the entire path to increasingly deviate from the target. The other is that the action search space expands rapidly as the horizon (planning distance) grows, leading to continuously rising planning costs. HWM does not rewrite the underlying learning path of world models; instead, it adds a hierarchical planning structure on top of existing action-conditioned world models, allowing the system to first organize stage paths and then handle local actions. 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