ResearchBenchmarksCloth Untangling on Double-Overhand Knot Sim-to-real LooseCloth Untangling on Double-Overhand Knot Sim-to-real LooseFollow100Success Rate (Low Friction)Opposite89.692.39597.7Mar 14, 2026Evaluation resultsMethodMethodLinksSuccess Rate (Low Friction)Success Rate (Medium Friction)Success Rate (High Friction)OppositeMax pulls=15, Force sa...Max pulls=15, Force safety limit=30 N, Trials per configuration=n=102026.0310010090ADQMax pulls=15, Force sa...Max pulls=15, Force safety limit=30 N, Trials per configuration=n=102026.0310010090NaiveMax pulls=15, Force sa...Max pulls=15, Force safety limit=30 N, Trials per configuration=n=102026.03909060