ResearchBenchmarksNominal Planning on OGBench Cube held-out trajectories 58 (test)Nominal Planning on OGBench Cube held-out trajectories 58 (test)Follow91.5Success RateSLS225.9842.996077.01Jun 14, 2026Evaluation resultsMethodMethodLinksSuccess RateDistance ErrorSLS2Planner=iLQRPlanner=iLQR2026.0691.50.051DINO-WM2026.06690.054PLDM2026.0628.750.145Le-WM2026.0628.50.133