ResearchBenchmarksCloth Untangling on Double-Overhand Knot (Tight) Sim-to-realCloth Untangling on Double-Overhand Knot (Tight) Sim-to-realFollow90Success Rate (Low Friction)Opposite48.459.27080.8Mar 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=102026.039010010ADQMax pulls=15, Force sa...Max pulls=15, Force safety limit=30 N, Trials per configuration=n=102026.039010070NaiveMax pulls=15, Force sa...Max pulls=15, Force safety limit=30 N, Trials per configuration=n=102026.03505040