ResearchBenchmarksTowel Folding TaskTowel Folding TaskFollow225Time (s)Human-703.085,561.4611,82618,090.54Feb 1, 2026Evaluation resultsMethodMethodLinksTime (s)Success RateHuman2026.02225—Ours-LF2026.021,576—FACTR2026.021,986—GELLO2026.0217,912—VR2026.0223,427—DMD2026.04—10Standard BC2026.04—0WM-DAgger2026.04—46.7