Simulating cloth for instance with spring/damper models is quite old. Even older than robotics research on folding cloths—and it has progressed pretty far. See

Simulating cloth for instance with spring/damper models is quite old. Even older than robotics research on folding cloths—and it has progressed pretty far. See for a recent survey: https://arxiv.org/abs/2407.01361 https://arxiv.org/abs/2407.01361