ResearchBenchmarksRobotic Planning on Comprehensive Scene 13Robotic Planning on Comprehensive Scene 13Follow100SROR92.7294.6196.598.39Feb 9, 2026Evaluation resultsMethodMethodLinksSRAverage StepsAverage Time (s)Average TokensTime to Success (Time-to-S)Tokens per Success (Tokens-to-S)OR2026.021008.720.0321,90020.0321,900ReAct2026.029912.9109.5173,000110.657,000MLDT2026.02988.322.5420,8002321,600Basic2026.02978.516.4819,30016.9919,200PlanORN2026.029413.251.491,70054.6892,700ORN2026.029313.540.370,50043.3472,200