ResearchBenchmarksRobot manipulation on T-shirt foldingRobot manipulation on T-shirt foldingFollow0.112Abs RelSoMA0.111320.115910.12050.12509Feb 2, 2026Evaluation resultsMethodMethodLinksAbs RelRMSEPSNRSSIMLPIPSSoMA2026.020.1120.17227.570.8960.128PhysTwin2026.020.1290.20822.850.8420.198