ResearchBenchmarksCloth Flattening on Deformable Manipulation Tasks Flatten clothFollow100Safety RateCORD-SLS79.284.69095.4Jun 12, 2026Evaluation ResultsMethodMethodLinksSafety RateGoal Error (m)CORD-SLSDynamics Evaluations C...Dynamics Evaluations Count=3400, Execution Time Per-Step [s]=0.711 ± 0.0772026.061000.0234MPPIDynamics Evaluations C...Dynamics Evaluations Count=64000, Execution Time Per-Step [s]=11.10 ± 4.662026.06800.0526