Golaem allows to sequence motions simply by putting them one after another in the Behavior Editor
The blending duration can be controlled using each Motion Behavior starting/stopping duration
For more details see Simple Transitions
When selecting the arrow between the two Motion Behaviors, one can add a custom transition from the Maya Attribute Editor
This custom transition (blue zone in the below screenshot) enables to control exactly when Golaem will start blending motions together after the Stop Trigger is activated.
Its width also controls the duration of the blending.
For more details see Custom Transitions