FoldBack: Self-Correcting Masked Generative Policy for Long-Horizon Garment Folding
Overview
FoldBack enables failed interactions in garment folding to be detected, undone, and repaired. It achieves 75.2% success and 0.837 IoU on 33 real garments, outperforming prior baselines. (2026-10-08).
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Event evidence and corrections
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Reported quantity · final-mask IoU: 0.837 other · Basis not reported · Differing source assertions
“nabling failed interactions to be detected, undone, and repaired before execution continues, without recovery demonstrations or base-policy retraining. Across 33 real garments from six categories, FoldBack achieves 75.2% final folding success and 0.837 final-mask IoU, versus 45.7% and 0.689 for the strongest prior baseline.”
Exact source · revision 1Source owner not reported
Reported quantity · final-mask IoU: 0.689 other · Basis not reported · Differing source assertions
“nabling failed interactions to be detected, undone, and repaired before execution continues, without recovery demonstrations or base-policy retraining. Across 33 real garments from six categories, FoldBack achieves 75.2% final folding success and 0.837 final-mask IoU, versus 45.7% and 0.689 for the strongest prior baseline.”
Exact source · revision 1Source owner not reported
Reported quantity · real garments: 33 other · Basis not reported
“nabling failed interactions to be detected, undone, and repaired before execution continues, without recovery demonstrations or base-policy retraining. Across 33 real garments from six categories, FoldBack achieves 75.2% final folding success and 0.837 final-mask IoU, versus 45.7% and 0.689 for the strongest prior baseline.”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsFoldBack: Self-Correcting Masked Generative Policy for Long-Horizon Garment Folding
FoldBack is a self-correcting masked generative policy for long-horizon garment folding that enables failed interactions to be detected, undone, and repaired before execution continues. It achieves 75.2% final folding success and 0.837 final-mask IoU across 33 real garments, outperforming prior baselines.
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