Ilia(@IliaLarchenko):I placed 🥈 2nd in the LeHome Challenge (at @ieee_ras_icra 2026) earlier this month, and before that I was 🥇 1st of 62 teams in the simulation round. Now I am sharing my solution — with a detailed logic walkthrough and open-source code. The task was to teach a cheap two-armed robot to fold different garments in simulation and on a real robot. I trained a VLA policy with an RL loop to make it work. Let's break it down 👇

Ilia

@IliaLarchenko

Data Science Director at Agoda | Ex-TOP-20 on Kaggle | Playing with robots for fun

가입 September 2019

105 팔로잉 중 1.9K 팬

Ilia@IliaLarchenko

2026.06.26 14:41

I placed 🥈 2nd in the LeHome Challenge (at @ieee_ras_icra 2026) earlier this month, and before that I was 🥇 1st of 62 teams in the simulation round. Now I am sharing my solution — with a detailed logic walkthrough and open-source code. The task was to teach a cheap two-armed robot to fold different garments in simulation and on a real robot. I trained a VLA policy with an RL loop to make it work. Let's break it down 👇