Explanation:

- Hesitate: Means to pause or delay in decision-making or action due to uncertainty or reluctance.

- Option 1, Ornate: Refers to something elaborately or excessively decorated, unrelated to hesitation.

- Option 2, Helpless: Describes a state of being unable to act or assist oneself, not directly related to hesitation.

- Option 3, Demur: Means to object or hesitate over something, similar to hesitate, not an antonym.

- Option 4, Decide: To make a choice or come to a conclusion, the opposite of hesitating.

The correct antonym of "hesitate" is indeed Option 4, Decide.