Task Planning on BoxNet3D-OBS (test)
62Success RateNC-REPLAN-S3
Evaluation results
| Method | Links | ||
|---|---|---|---|
| NC-REPLAN-S3Motion Planner=Waypoint Motion, Planning Mode=NC-REPLAN, Training Protocol=Joint Task-Motion RLVR training2026.04 | 62 | -0.11 | |
| IC-REPLAN-S3Motion Planner=Waypoint Motion, Planning Mode=IC-REPLAN, Training Protocol=Joint Task-Motion RLVR training2026.04 | 57 | -0.14 | |
| NC-REPLAN-S2Motion Planner=Waypoint Motion, Planning Mode=NC-REPLAN, Motion-awareness=true2026.04 | 53 | -0.08 | |
| FULLPLAN-S3Motion Planner=Waypoint Motion, Planning Mode=FULLPLAN, Training Protocol=Joint Task-Motion RLVR training2026.04 | 53 | -0.25 | |
| IC-REPLAN-S2Motion Planner=Waypoint Motion, Planning Mode=IC-REPLAN, Motion-awareness=true2026.04 | 51 | -0.12 | |
| FULLPLAN-S2Motion Planner=Waypoint Motion, Planning Mode=FULLPLAN, Motion-awareness=true2026.04 | 47 | -0.28 | |
| NC-REPLAN-S1Motion Planner=Waypoint Motion, Planning Mode=NC-REPLAN, Motion-awareness=true2026.04 | 35 | 0.21 | |
| NC-REPLAN-S3Motion Planner=VLA Motion, Planning Mode=NC-REPLAN, Training Protocol=Joint Task-Motion RLVR training2026.04 | 33 | 0.09 | |
| IC-REPLAN-S1Motion Planner=Waypoint Motion, Planning Mode=IC-REPLAN, Motion-awareness=true2026.04 | 32 | 0.34 | |
| FULLPLAN-S1Motion Planner=Waypoint Motion, Planning Mode=FULLPLAN, Motion-awareness=true2026.04 | 29 | 0.12 | |
| NC-REPLAN-S2Motion Planner=VLA Motion, Planning Mode=NC-REPLAN, Motion-awareness=true2026.04 | 29 | 0.17 | |
| IC-REPLAN-S3Motion Planner=VLA Motion, Planning Mode=IC-REPLAN, Training Protocol=Joint Task-Motion RLVR training2026.04 | 28 | -0.05 | |
| IC-REPLAN-S2Motion Planner=VLA Motion, Planning Mode=IC-REPLAN, Motion-awareness=true2026.04 | 27 | -0.12 | |
| FULLPLAN-S3Motion Planner=VLA Motion, Planning Mode=FULLPLAN, Training Protocol=Joint Task-Motion RLVR training2026.04 | 26 | -0.18 | |
| FULLPLAN-S2Motion Planner=VLA Motion, Planning Mode=FULLPLAN, Motion-awareness=true2026.04 | 24 | -0.08 | |
| NC-REPLAN-S1Motion Planner=VLA Motion, Planning Mode=NC-REPLAN, Motion-awareness=true2026.04 | 23 | 0.1 | |
| IC-REPLAN-S1Motion Planner=VLA Motion, Planning Mode=IC-REPLAN, Motion-awareness=true2026.04 | 21 | 0.15 | |
| GEMINI3-PROMotion Planner=Waypoint Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 19 | 0.12 | |
| FULLPLAN-S1Motion Planner=VLA Motion, Planning Mode=FULLPLAN, Motion-awareness=true2026.04 | 18 | 0.18 | |
| GEMINI3-PROMotion Planner=VLA Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 15 | -0.11 | |
| GPT-5Motion Planner=Waypoint Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 14 | 0.31 | |
| GPT-OSS-20BMotion Planner=Waypoint Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 13 | 0.25 | |
| GPT-5Motion Planner=VLA Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 11 | -0.04 | |
| NC-REPLAN-S3Motion Planner=RRT Motion, Planning Mode=NC-REPLAN, Training Protocol=Joint Task-Motion RLVR training2026.04 | 11 | 0.14 | |
| GPT-OSS-20BMotion Planner=VLA Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 10 | -0.01 | |
| NC-REPLAN-S2Motion Planner=RRT Motion, Planning Mode=NC-REPLAN, Motion-awareness=true2026.04 | 9 | 0.18 | |
| IC-REPLAN-S3Motion Planner=RRT Motion, Planning Mode=IC-REPLAN, Training Protocol=Joint Task-Motion RLVR training2026.04 | 9 | 0.16 | |
| QWEN3-32BMotion Planner=VLA Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 8 | 0.26 | |
| IC-REPLAN-S2Motion Planner=RRT Motion, Planning Mode=IC-REPLAN, Motion-awareness=true2026.04 | 8 | 0.22 | |
| NC-REPLAN-S1Motion Planner=RRT Motion, Planning Mode=NC-REPLAN, Motion-awareness=true2026.04 | 8 | 0.39 | |
| FULLPLAN-S3Motion Planner=RRT Motion, Planning Mode=FULLPLAN, Training Protocol=Joint Task-Motion RLVR training2026.04 | 8 | 0.25 | |
| FULLPLAN-S2Motion Planner=RRT Motion, Planning Mode=FULLPLAN, Motion-awareness=true2026.04 | 7 | 0.35 | |
| QWEN3-32BMotion Planner=Waypoint Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 6 | 0.43 | |
| IC-REPLAN-S1Motion Planner=RRT Motion, Planning Mode=IC-REPLAN, Motion-awareness=true2026.04 | 6 | 0.45 | |
| GEMINI3-FLASHMotion Planner=Waypoint Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 5 | 0.75 | |
| GEMINI3-PROMotion Planner=RRT Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 5 | 0.24 | |
| GPT-OSS-20BMotion Planner=RRT Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 5 | 0.31 | |
| FULLPLAN-S1Motion Planner=RRT Motion, Planning Mode=FULLPLAN, Motion-awareness=true2026.04 | 5 | 0.52 | |
| GPT-5-MINIMotion Planner=VLA Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 4 | 0.64 | |
| GPT-5-MINIMotion Planner=Waypoint Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 4 | 0.79 | |
| GPT-5Motion Planner=RRT Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 4 | 0.28 | |
| QWEN3-32BMotion Planner=RRT Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 4 | 0.48 | |
| GEMINI3-FLASHMotion Planner=VLA Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 3 | 0.52 | |
| QWEN3-4BMotion Planner=VLA Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 3 | 1.34 | |
| GPT-5-MINIMotion Planner=RRT Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 2 | 0.85 | |
| QWEN3-4BMotion Planner=RRT Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 2 | 1.53 | |
| QWEN3-4BMotion Planner=Waypoint Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 2 | 1.14 | |
| GEMINI3-FLASHMotion Planner=RRT Motion, Planning Mode=FULLPLAN, Motion-awareness=false2026.04 | 1 | 0.76 |