Prepare and Serve Coffee + Wash Dish on Selected Composite Tasks
86.7Subgoal Completion RateAnticipate, Adapt, Act
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| Anticipate, Adapt, Act2026.02 | 86.7 | 87.5 | |
| RDDL/PROSTanticipatory rewards=none2026.02 | 75 | 55 | |
| LLM-only baselinemode=LLM-only2026.02 | 47.5 | 20 |