Planning on PlanBench (in-distribution)
97.8Success RateGemini-3-Flash
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Gemini-3-FlashOrchestrator=prompted2026.06 | 97.8 | 2.2 | 3.7 | 0.06 | |
| HALOOrchestrator=ours2026.06 | 95.8 | 2.3 | 2.6 | 0.004 | |
| HALOOrchestrator=ours2026.06 | 94.9 | 2.1 | 2.2 | 0.004 | |
| GPT-5-miniOrchestrator=prompted2026.06 | 93 | 2.8 | 4.8 | 0.18 | |
| Gemini-3-FlashOrchestrator=prompted2026.06 | 93 | 2.5 | 4.3 | 0.06 | |
| GPT-5-miniOrchestrator=prompted2026.06 | 91.6 | 2.8 | 4.8 | 0.18 |