ResearchBenchmarksTwisted Beam Simulation on Twisted Beam Longer ScaledTwisted Beam Simulation on Twisted Beam Longer ScaledFollow0.525Simulation Error (mm)RAFL0.210642.332574.45456.57643Mar 23, 2026Evaluation resultsMethodMethodLinksSimulation Error (mm)RAFLmode=Sim-to-Sim, zero-...mode=Sim-to-Sim, zero-shot=true2026.030.525SRLmode=Sim-to-Sim, zero-...mode=Sim-to-Sim, zero-shot=true2026.030.963Originalmode=Sim-to-Simmode=Sim-to-Sim2026.038.384