ResearchBenchmarksGoal-Conditioned Trajectory Planning on AntMaze MediumGoal-Conditioned Trajectory Planning on AntMaze MediumFollow70Success RateIQL30.37640.66350.9561.237Mar 14, 2026Evaluation resultsMethodMethodLinksSuccess RatePlanning Latency (s/step)IQL2026.0370—KDP2026.0367.60.052CQL2026.0353.7—Diffuser2026.0331.96.153