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 π0.5-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.

💻 Code: https://github.com/IliaLarchenko/lehome_solution
📄 Tech report: https://arxiv.org/abs/2606.27163
✍️ Blog post: https://ilialarchenko.com/projects/lehome2026
🤖 Real-world final policy: https://huggingface.co/IliaLarchenko/lehome_real

IliaLarchenko/lehome_sim

LeHome Challenge 2026 — Simulation Policy

IliaLarchenko/
lehome_sim