ResearchBenchmarksLong-horizon navigation on OGBench AntMaze Stitch GiantFollow90Success RateXDiffuser6470.7577.584.25May 16, 2026Evaluation ResultsMethodMethodLinksSuccess RateXDiffuser2026.0590GAS2026.0588.3CDGS2026.0584C-MCTD2026.0575CD2026.0565