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 pol...