Fold Laundry

Description

Pick up a rumpled garment from a flat surface and fold it into a tidy rectangle. A canonical dexterous manipulation benchmark — deformable object, long horizon, multi-step.

Sub-tasks

• · identify garment
• · unfold
• · align
• · fold in half
• · fold quarter
• · stack

Required capabilities

• bimanual
• cloth_perception
• long_horizon_planning