ResearchBenchmarksLong-Horizon Action Synthesis on LH3 zero-shot 1.0Long-Horizon Action Synthesis on LH3 zero-shot 1.0Follow100Follow Success RateTokenHSI84.488.4592.596.55Apr 22, 2026Evaluation resultsMethodMethodLinksFollow Success RateCarry Success RateFollow Success Rate (3rd Subtask)Climb Success RateSit Success RateTime (s)Overall LH Success RateSGREGRTokenHSIZero-shot=trueZero-shot=true2026.041005021200102.9386769ALASZero-shot=trueZero-shot=true2026.041009550401097.6591381HLRZero-shot=trueZero-shot=true2026.0489381550120.8254558PULSEZero-shot=trueZero-shot=true2026.0485311220135.2183850