ResearchBenchmarksLong-horizon Robot Manipulation on Franka Real-world Long-horizon Tasks (real-robot)Follow2Average LengthGR11.8962.5983.34.002Feb 14, 2025Evaluation ResultsMethodMethodLinksAverage LengthABCAC Success RateACABC Success RateCABCA Success RateCACAB Success RateBCACA Success RateGR12025.022—————DTP2025.024.6—————