@article{acpapuc2026flowactions,
      title={Flow Policies as Actions of Skill-Level World Models: Learned and Symbolic Abstractions for Long-Horizon Planning}, 
      author={Andreu Matoses Gimenez and Andrei-Carlo Papuc and Chris Pek and Javier Alonso-Mora},
      year={2026},
      eprint={2610.04767},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2610.04767}, 
}