ResearchBenchmarksLong-Horizon Action Synthesis on LH2 zero-shot 1.0Long-Horizon Action Synthesis on LH2 zero-shot 1.0Follow100Follow Success RateTokenHSI87.5290.769497.24Apr 22, 2026Evaluation resultsMethodMethodLinksFollow Success RateCarry Success RateFollow Success Rate (3rd Subtask)Climb Success RateSit Success RateTime (s)Overall Success RateSuccess Generation Rate (SGR)Execution Generation Rate (EGR)TokenHSIZero-shot=trueZero-shot=true2026.041005613—19942176ALASZero-shot=trueZero-shot=true2026.041009667—168570897HLRZero-shot=trueZero-shot=true2026.04914210—0115.228062PULSEZero-shot=trueZero-shot=true2026.0488358—0128.521055