ResearchBenchmarksArticulated Control on ReacherFollow90Success RatePLDM75.4479.228386.78Jul 2, 2026Evaluation ResultsMethodMethodLinksSuccess RatePLDMPlanning cost=Ours (Ac...Planning cost=Ours (Action consistency cost)2026.0790Le-WMPlanning cost=Ours (Ac...Planning cost=Ours (Action consistency cost)2026.0788Le-WMPlanning cost=OriginalPlanning cost=Original2026.0776PLDMPlanning cost=OriginalPlanning cost=Original2026.0776