ResearchBenchmarksBimanual T-shirt folding on D5 (D2 ∪ DA)Bimanual T-shirt folding on D5 (D2 ∪ DA)Follow1Success RateWARP-BC0.0640.3070.550.793Jun 26, 2026Evaluation resultsMethodMethodLinksSuccess RateMean TTC (s)Throughput (/hr)Act. Chunks KeptWARP-BC2026.06180.744.633.7DemInf2026.060.9115.825.333.7SARM2026.060.11561.5566.6SCIZOR2026.060.1206.21.566.7