ResearchBenchmarksGoal-Conditioned Behavior Cloning on humanoidmaze medium-stitchGoal-Conditioned Behavior Cloning on humanoidmaze medium-stitchFollow88Success RateHIQL26.6442.5758.574.43Jun 11, 2025Evaluation resultsMethodMethodLinksSuccess RateHIQLHierarchical=trueHierarchical=true2025.0688HBYOL-γHierarchical=trueHierarchical=true2025.0661BYOL-γHierarchical=falseHierarchical=false2025.0654HGCBCHierarchical=true, Sub...Hierarchical=true, Sub-goal step=252025.0635GCBCHierarchical=falseHierarchical=false2025.0629