Tatra mountains are a National Park, both in Poland and Slovakia, so it is only allowed to walk along marked trails. Unless one goes with a licensed mountain guide, in which case one can go off trail. Vysoka (the High Peak; 2560 m) is a popular goal of off-trail climbs. I went with Ewelina and Grzegorz, who run the TAMiTU Tatry climbing and travel company. I can highly recommend them!