ResearchBenchmarksHierarchical Reward Design on iTHORHierarchical Reward Design on iTHORFollow14.19HL RewardHier3.69646.42079.14511.8693Feb 20, 2026Evaluation resultsMethodMethodLinksHL RewardHL Expert %LL RewardLL Expert %Total RewardTotal Expert %HierReward Type=LLM-genera...Reward Type=LLM-generated hierarchical rewards2026.0214.1987.5-3.757537.6862.5FlatReward Type=LLM-genera...Reward Type=LLM-generated flat rewards2026.027.670-35.203.270TaskReward Type=Task rewar...Reward Type=Task reward alone2026.024.10-23.38012.310