ResearchBenchmarksNominal Planning on Push-T held-out trajectories 10 (test)Nominal Planning on Push-T held-out trajectories 10 (test)Follow51.54Success RateSLS2-0.501613.009226.5240.0308Jun 14, 2026Evaluation resultsMethodMethodLinksSuccess RateDistance ErrorSLS2Planner=iLQRPlanner=iLQR2026.0651.5429.86DINO-WM2026.062.52112.58Le-WM2026.061.5113.61PLDM2026.061.5126.07