ResearchBenchmarksCloth Folding on Tshirt Pref 2 (test)Follow0.56Normalized Task ScoreRPO0.448720.477610.50650.53539Feb 10, 2026Evaluation ResultsMethodMethodLinksNormalized Task ScoreRPO2026.020.56RKO2026.020.55KTO2026.020.54DPO2026.020.52DDPM2026.020.453