ResearchBenchmarksLong-Horizon Interaction (Pull Cart w/ Box) on Real-worldLong-Horizon Interaction (Pull Cart w/ Box) on Real-worldFollow4,000Success Rate (SR)HAIC-1609202,0003,080Feb 12, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Error Metric (BPE)Error Metric (BOE)Error Metric (JPE)Error Metric (BVE)Error Metric (BAE)Error Metric (JVE)HAIC2026.024,00088.2420.7157.25.915.0212.2HAIC2026.0210076.2425132.35.083.669.5HDMI*Observation=propriocep...Observation=proprioception-only2026.0240118556.71656.113.7310.32HDMI*2026.020——————