ResearchBenchmarksStack Cubes in Requested Order on Real-World Long-Horizon Planning Stack CubesStack Cubes in Requested Order on Real-World Long-Horizon Planning Stack CubesFollow95Success Rate (Easy)BagelVLA58.668.0577.586.95Feb 10, 2026Evaluation resultsMethodMethodLinksSuccess Rate (Easy)Success Rate (Middle)Success Rate (Hard)Success RatePlanning AccuracyBagelVLAKeyframe-forecasting=t...Keyframe-forecasting=true, Textual-planning=true2026.0295656073.395BagelVLAKeyframe-forecasting=f...Keyframe-forecasting=false2026.0290452553.380pi_02026.027535104055BagelVLATextual-planning=falseTextual-planning=false2026.0275401543.370VPP2026.02601502545