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Long-horizon Robotic Planning on OGBench
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72
AntMaze Medium Score
HDFlow
12.72
28.11
43.5
58.89
May 6, 2026
AntMaze Medium Score
AntMaze Large Score
AntMaze Giant Score
HumanoidMaze Medium Score
HumanoidMaze Large Score
HumanoidMaze Giant Score
Cube Single Manipulation Score
Cube Double Manipulation Score
Cube Triple Manipulation Score
Scene Score
Puzzle 3x3 Score
Puzzle 4x4 Score
Puzzle 4x5 Score
Puzzle 4x6 Score
Updated 2mo ago
Evaluation Results
Method
Method
Links
AntMaze Medium Score
AntMaze Large Score
AntMaze Giant Score
HumanoidMaze Medium Score
HumanoidMaze Large Score
HumanoidMaze Giant Score
Cube Single Manipulation Score
Cube Double Manipulation Score
Cube Triple Manipulation Score
Scene Score
Puzzle 3x3 Score
Puzzle 4x4 Score
Puzzle 4x5 Score
Puzzle 4x6 Score
HDFlow
2026.05
72
65
48
51
42
25
45
35
17
70
62
32
16
14
DV
2026.05
60
51
35
38
29
16
32
23
14
56
49
19
-
6
DL
2026.05
51
40
27
30
22
11
25
17
11
45
39
11
6
0
SHD
2026.05
42
31
19
24
16
7
20
13
8
37
31
5
5
0
AD
2026.05
40
28
15
21
13
5
18
11
6
33
28
2
0
0
HDMI
2026.05
31
22
11
15
9
3
12
7
4
24
20
0
0
0
DD
2026.05
22
14
5
9
5
1
8
4
2
16
13
0
0
0
Diffuser
2026.05
15
8
2
5
2
0
5
2
1
10
8
0
0
0
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