ResearchBenchmarksRobotic Task Planning on Classic (Scene 3)Robotic Task Planning on Classic (Scene 3)Follow0.66Success Rate (SR)PlanORN-0.02640.15180.330.5082Feb 9, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Average StepsAverage Time (s)Average Tokens (K)Time to Success (s)Tokens to SuccessPlanORN2026.020.6683.8503.38—762.69—ReAct2026.020.5384.31,066.64—2,012.53—ORN2026.020.3972.9423.08—1,084.82—OR2026.020.3770.6291.63—788.18—Basic2026.02027.149.42———MLDT2026.02028.163.27———