LeHome Challenge 2026 衣物折叠竞赛获奖方案（在线第1、真实世界第2）
阅读原文· arxiv.org该方案在 LeHome Challenge 2026（ICRA 2026 双臂衣物折叠竞赛）中获得在线仿真轮次第1名、真实世界决赛第2名。核心方法是用强化学习循环改进视觉-语言-动作（VLA）策略：策略同时作为价值函数，预测动作、成功、进度及任务相关未来量，用于优势估计、实时故障检测和候选选择。技术组合包括 AWR + RECAP 结合的流匹配 VLA、HuggingFace Hub 异步分布式训练/部署、基于 Thompson 采样的推理时超参数优化，以及融合相机对齐、强数据增强与类 DAgger 人工数据采集的 sim-to-real 方案。
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, progress, and a few task-relevant future quantities, and those predictions drive advantage estimation, live failure detection, and candidate selection. The work mostly recombines existing RL ideas with engineering and optimization contributions that can be used together as one recipe or individually: AWR + RECAP combined for flow-matching VLA; an asynchronous distributed training / rollout pipeline through HuggingFace Hub; inference-time hyperparameters optimization via Thompson sampling; a sim-to-real recipe with camera-alignment tooling, heavy augmentation and DAgger-like HIL data collection.