ResearchBenchmarksRobotic Planning on Comprehensive (Scene 14)Robotic Planning on Comprehensive (Scene 14)Follow89SRPlanORN-0.4422.784669.22Feb 9, 2026Evaluation resultsMethodMethodLinksSRAverage StepsAverage Time (s)Average TokensTime-to-STokens-to-SPlanORN2026.028948253.781,600,000285.151,300,000OR2026.027840.7133.28579,100170.87628,300ORN2026.027254.5276.571,700,000384.131,700,000ReAct2026.026871.8856.342,900,0001,259.331,500,000MLDT2026.021218.443.4110,200361.661,200,000Basic2026.02321.636.91132,4001,230.257,000,000