---
title: "Unfolding Robotics:\nThe Open-Source Recipe for Teaching a Robot to Fold Your Clothes"
subtitle: ""
description: "We trained a bimanual robot to fold t-shirts using LeRobot and open-source hardware. We release the model, data, code, and every insight from data collection to deployment."
authors:
  - name: "Pepijn Kooijmans"
    url: "https://huggingface.co/pepijn223"
    affiliations: [1]
  - name: "Michel Aractingi"
    url: "https://huggingface.co/aractingi"
    affiliations: [1]
  - name: "Steven Palma"
    url: "https://huggingface.co/imstevenpmwork"
    affiliations: [1]
  - name: "Caroline Pascal"
    url: "https://huggingface.co/CarolinePascal"
    affiliations: [1]
  - name: "Jade Choghari"
    url: "https://huggingface.co/jadechoghari"
    affiliations: [1]
  - name: "Khalil Meftah"
    url: "https://huggingface.co/lilkm"
    affiliations: [1]
  - name: "Martino Russi"
    url: "https://huggingface.co/nepyope"
    affiliations: [1]
  - name: "Nicolas Rabault"
    url: "https://huggingface.co/Nico-robot"
    affiliations: [1]
  - name: "Virgile Batto"
    url: "https://huggingface.co/VirgileBatto"
    affiliations: [1]
  - name: "Leandro von Werra"
    url: "https://huggingface.co/lvwerra"
    affiliations: [1]
  - name: "Thomas Wolf"
    url: "https://huggingface.co/thomwolf"
    affiliations: [1]
affiliations:
  - name: "Hugging Face"
    url: "https://huggingface.co"
published: "2026"
tags:
  - robotics
  - lerobot
  - manipulation
  - open-source
tableOfContentsAutoCollapse: true
pdfProOnly: false
showPdf: false
---

import Hero from "./chapters/folding/01-hero.mdx";
import Hardware from "./chapters/folding/03-hardware.mdx";
import DataCollection from "./chapters/folding/04-data-collection.mdx";
import Training from "./chapters/folding/06-training.mdx";
import Experiments from "./chapters/folding/08-ablations.mdx";
import Learnings from "./chapters/folding/09-learnings.mdx";
import References from "./chapters/folding/12-references.mdx";


<Hero />

<Hardware />

<DataCollection />

<Training />

<Experiments />

<Learnings />

<References />