ResearchBenchmarksVisual Planning on RECON (100 sampled trajectories)Visual Planning on RECON (100 sampled trajectories)Follow0.96Absolute Trajectory Error (ATE)CoME0.92121.18311.4451.7069May 12, 2026Evaluation resultsMethodMethodLinksAbsolute Trajectory Error (ATE)Range Pose Error (RPE)CoME2026.050.960.28NWM+STM2026.050.980.3STMdescription=Short-term...description=Short-term memory expert (finetuned DiT-B)2026.051.050.32NWM+LTM2026.051.070.33LTMdescription=Long-term...description=Long-term memory expert (frozen world model with LoRA)2026.051.10.32NWM2026.051.130.35GNM2026.051.870.73NOMAD2026.051.930.52