ResearchBenchmarksCalculate and Place Symbol Blocks on Real-World Long-Horizon Planning DatasetCalculate and Place Symbol Blocks on Real-World Long-Horizon Planning DatasetFollow80Success Rate (Easy)BagelVLA59.264.67075.4Feb 10, 2026Evaluation resultsMethodMethodLinksSuccess Rate (Easy)Success Rate (Middle)Success Rate (Hard)Success RatePlanning AccuracyBagelVLAKeyframe-forecasting=t...Keyframe-forecasting=true, Textual-planning=true2026.0280654563.385pi_02026.027025031.740BagelVLAKeyframe-forecasting=f...Keyframe-forecasting=false2026.027050305075BagelVLATextual-planning=falseTextual-planning=false2026.0265251033.350VPP2026.026010023.330