ResearchBenchmarksNominal Planning on Reacher held-out trajectories 57 (test)Follow83.5Success RateSLS214.3432.29550.2568.205Jun 14, 2026Evaluation ResultsMethodMethodLinksSuccess RateDistanceSLS2Planner=iLQRPlanner=iLQR2026.0683.50.377PLDM2026.0640.50.821DINO-WM2026.0624.50.533Le-WM2026.06171.305