ResearchBenchmarksSoft-body Manipulation Simulation on Robot Manipulation Datasets GeneralizationSoft-body Manipulation Simulation on Robot Manipulation Datasets GeneralizationFollow0.112Abs RelSoMA0.110760.119130.12750.13587Feb 2, 2026Evaluation resultsMethodMethodLinksAbs RelRMSEPSNRSSIMLPIPSSoMA2026.020.1120.13732.890.9680.062PhysTwin2026.020.1280.16826.540.9410.092GausSim2026.020.1430.18631.290.9420.127