ResearchBenchmarksBimanual T-shirt folding on D4 (D1 ∪ DA)Bimanual T-shirt folding on D4 (D1 ∪ DA)Follow100Success RateWARP-BC94.896.1597.598.85Jun 26, 2026Evaluation resultsMethodMethodLinksSuccess RateMean TTC (s)Throughput (/hr)Action Chunk RetentionWARP-BC2026.0610071.250.645.6SARM2026.069590.534.978.5DemInf2026.069589.635.245.6SCIZOR2026.069598.432.477.9