ResearchBenchmarksLong-horizon navigation on OGBench AntMaze Stitch LargeFollow96.3Success RateGAS85.58888.36991.1593.931May 16, 2026Evaluation ResultsMethodMethodLinksSuccess RateGAS2026.0596.3C-MCTD2026.0594XDiffuser2026.0590.6CD2026.0586