ResearchBenchmarksRobotic Soft Manipulator Threading on SoftManiSim held-out (test)Robotic Soft Manipulator Threading on SoftManiSim held-out (test)Follow92.4Success RateTHREAD23.55241.42659.377.174Jun 19, 2026Evaluation resultsMethodMethodLinksSuccess RateTip Distance (m)Collision Rate (%)Motion SmoothnessTHREAD2026.0692.40.01512.20.008BC + RL2026.0675.30.06362.20.076Diff Only2026.0660.40.0579.30.024RL Only2026.0638.20.0861.40.11BC Only2026.0626.20.10438.50.096