ResearchBenchmarksSoft-body simulation on Vibrating Beam Sim-to-Real Shorter (Scaled)Soft-body simulation on Vibrating Beam Sim-to-Real Shorter (Scaled)Follow1.042Simulation Error (mm)RAFL1.00261.268551.53451.80045Mar 23, 2026Evaluation resultsMethodMethodLinksSimulation Error (mm)RAFL2026.031.042SRLSource=Gao et al.Source=Gao et al.2026.031.173Original2026.031.643SysIDParameters=Young's Mod...Parameters=Young's Modulus only2026.031.978SysIDParameters=bothParameters=both2026.032.027