ResearchBenchmarksCloth Folding on Deformable Manipulation Tasks Fold clothFollow100Safety RateCORD-SLS62.5672.288291.72Jun 12, 2026Evaluation ResultsMethodMethodLinksSafety RateGoal Error (m)CORD-SLSDynamics Evaluations C...Dynamics Evaluations Count=3400, Execution Time Per-Step [s]=0.758 ± 0.1072026.061000.0611MPPIDynamics Evaluations C...Dynamics Evaluations Count=64000, Execution Time Per-Step [s]=18.81 ± 6.112026.06640.0738