ResearchBenchmarksManipulation dynamics prediction on Real-world trajectories single-object (test)Follow0.737Task Success RateSim+Real0.517560.574530.63150.68847Jan 19, 2026Evaluation ResultsMethodMethodLinksTask Success RateSim+RealTraining regime=Pretra...Training regime=Pretrained on large-scale simulation data and fine-tuned using real-world contact observations2026.010.737Real-onlyTraining regime=Traine...Training regime=Trained solely on real-world trajectories2026.010.526