ResearchBenchmarksRobot Task Planning on Tower of HanoiRobot Task Planning on Tower of HanoiFollow36Token Cost (k)LLMTAMP16.04150.77285.5420.23May 23, 2025Evaluation resultsMethodMethodLinksToken Cost (k)Success RateLLMTAMPLLM Backbone=GPT-4oLLM Backbone=GPT-4o2025.0536—R1-TAMPLLM Backbone=DeepSeek R1LLM Backbone=DeepSeek R12025.05353—O1-TAMPLLM Backbone=OpenAI o1LLM Backbone=OpenAI o12025.05529—PDDLLMExecution=PDDL solverExecution=PDDL solver2025.05535—