$\chi_{0}$ enables two sets of dual-arm robots to collaboratively orchestrate long-horizon garment manipulation tasks, including flattening, folding, and hanging different clothes. The method exhibits high-reliability autonomy, capable of running the system from an arbitrary initial state for consecutive 24 hours non-stop. Experiments validate that $\chi_{0}$ surpasses the state-of-the-art $\pi_{0.5}$ in success rate by nearly 250%, achieved with only 20 hours of data and 8 A100 GPUs.
The code in the repository is licensed under the Apache 2.0 license. The data and model checkpoints are licensed under
CC BY-NC-SA 4.0.
1@article{sima2026kai0,
2 title={$\chi_{0}$: Resource-Aware Robust Manipulation via Taming Distributional Inconsistencies},
3 author={Yu, Checheng and Sima, Chonghao and Jiang, Gangcheng and Zhang, Hai and Mai, Haoguang and Li, Hongyang and Wang, Huijie and Chen, Jin and Wu, Kaiyang and Chen, Li and Zhao, Lirui and Shi, Modi and Luo, Ping and Bu, Qingwen and Peng, Shijia and Li, Tianyu and Yuan, Yibo},
4 journal={arXiv preprint arXiv:2602.09021},
5 year={2026}
6}
