ResearchBenchmarksContact-rich manipulation on Unzip BagContact-rich manipulation on Unzip BagFollow87Unzip Half Success RateGO-117.3235.4153.571.59May 8, 2026Evaluation resultsMethodMethodLinksUnzip Half Success RateLeft Grasp Success RateRight Grasp Success RateUnzip Full Success RateOverall Success RateGO-1tactile feedback=falsetactile feedback=false2026.0587100872020RDPtactile feedback=true,...tactile feedback=true, initial configuration=manual2026.0587——6—AT-VLAtactile feedback=truetactile feedback=true2026.0580100803333π0.5tactile feedback=falsetactile feedback=false2026.05671006700VTLAtactile feedback=true,...tactile feedback=true, initial configuration=manual2026.0520——0—