用语言预测中间目标，实现长程精准规划

Planning with world models is bottlenecked by compounding prediction errors and the difficulty of defining optimizable goals. Visual targets provide precise local gradients but poor distant guidance, while language is flexible yet limited by noisy cross-modal alignment or dependence on large generative models unsuited for the high-sampling nature of model-based planning. To address these challenges, we introduce Latent Goal Prediction from Language (LAGO), a framework that predicts both sequences of intermediate goal states from language instructions and action-conditioned rollouts, all within the same latent space. Rather than optimizing toward a single global objective, LAGO dynamically decomposes instructions into explicitly predicted, locally tractable latent subgoals. By updating these subgoals online and using a soft minimum trajectory cost during planning, LAGO enables an agent to follow coherent latent trajectories over long horizons. Evaluation across multiple environments planning horizons shows that LAGO avoids the sharp degradation of prior methods. By achieving robust and precise long-horizon planning purely from language, LAGO bridges the precision of visual goals with the flexibility of text-guided control.