ResearchBenchmarksLH1 (Long-Horizon task 1) on Custom Humanoid Simulation Environment (test)Follow72Success RateALAS28.3239.665162.34Apr 22, 2026Evaluation ResultsMethodMethodLinksSuccess RateALASindependent random see...independent random seeds=10, total trials=1002026.0472TokenHSIindependent random see...independent random seeds=10, total trials=1002026.0455CMLindependent random see...independent random seeds=10, total trials=1002026.0430