ResearchBenchmarksManipulation dynamics prediction on Real-world trajectories multi-object (test)Follow64.7Task Success RateSim+Real46.39651.14855.960.652Jan 19, 2026Evaluation ResultsMethodMethodLinksTask Success RateSim+RealTraining regime=Pretra...Training regime=Pretrained on large-scale simulation data and fine-tuned using real-world contact observations2026.0164.7Real-onlyTraining regime=Traine...Training regime=Trained solely on real-world trajectories2026.0147.1