Long-Horizon Eval

Key Insight

Evaluating robot policies on short tasks can lead to a false sense of security because small execution errors compound exponentially over extended sequences. In long-horizon autonomy, a single failure in a multi-step sequence (such as a 50-step assembly task) invalidates the entire run, making recovery behaviors critical for success. Developing a rigorous evaluation harness that specifically measures how error rates compound across sequential phases allows engineers to identify and resolve fragile points in the control pipeline.