ResearchBenchmarksGoal-Conditioned Behavior Cloning on humanoidmaze large stitchGoal-Conditioned Behavior Cloning on humanoidmaze large stitchFollow28Success RateHIQL3.049.521622.48Jun 11, 2025Evaluation resultsMethodMethodLinksSuccess RateHIQLHierarchical=trueHierarchical=true2025.0628HBYOL-γHierarchical=trueHierarchical=true2025.0621BYOL-γHierarchical=falseHierarchical=false2025.0614GCBCHierarchical=falseHierarchical=false2025.066HGCBCHierarchical=true, Sub...Hierarchical=true, Sub-goal step=252025.064