ResearchBenchmarksRobotic Planning on Scene 15 ComprehensiveRobotic Planning on Scene 15 ComprehensiveFollow0.32SRPlanORN-0.01280.07360.160.2464Feb 9, 2026Evaluation resultsMethodMethodLinksSRAverage StepsAverage Time (s)Average TokensTime to SolutionTokens per SolutionPlanORN2026.020.32115.6793.938,500,0002,481.0317,900,000OR2026.020.27111.9691.116,400,0002,585.2617,400,000ORN2026.020.241291,077.7110,900,0004,490.4530,400,000ReAct2026.020.18120.11,880.37,400,00010,446.0916,300,000Basic2026.02021.941.24174,800——MLDT2026.02023.360.95235,800——