Learning to Fold: prizewinning solution at LeHome Challenge 2026 (1st place online, 2nd offline)
Paper β’ 2606.27163 β’ Published
LeHome Challenge 2026 β Simulation Policy
This is my policy for the online (simulation) round of the LeHome Challenge 2026 (ICRA 2026), a competition on bimanual garment folding with a LeRobot SO-ARM101 setup. It placed 1st of 62 teams.
It is a Ο0.5-based vision-language-action policy trained with an asynchronous RL + DAgger loop entirely in NVIDIA Isaac Sim.
For how it works and how to run it, please refer to the code repository and the tech report.
- π» Code: https://github.com/IliaLarchenko/lehome_solution
- π Tech report: https://arxiv.org/abs/2606.27163
- βοΈ Blog post: https://ilialarchenko.com/projects/lehome2026
- π€ Real-world final policy: https://huggingface.co/IliaLarchenko/lehome_real