ResearchBenchmarksHierarchical Reward Design on KitchenFollow0.39High-Level RewardHier-0.01560.08970.1950.3003Feb 20, 2026Evaluation ResultsMethodMethodLinksHigh-Level RewardHigh-Level Expert PercentageTotal RewardTotal Expert PercentageHierReward Type=LLM-genera...Reward Type=LLM-generated hierarchical rewards2026.020.399,2861.089,286FlatReward Type=LLM-genera...Reward Type=LLM-generated flat rewards2026.020.061,0000.81,000TaskReward Type=Task rewar...Reward Type=Task reward alone2026.02000.750