ResearchBenchmarksLong-horizon navigation on OGBench AntMaze Stitch MediumFollow98.1Success RateGAS92.79694.17395.5596.927May 16, 2026Evaluation ResultsMethodMethodLinksSuccess RateGAS2026.0598.1C-MCTD2026.0598CD2026.0596XDiffuser2026.0593