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arXiv · 2609.12433

FoldNet++: a Large-Scale Synthetic Dataset for Robotic T-Shirt Folding and Unfolding

Yuxing Chen·Zhiyuan Wei·Bowen Xiao·Zhizheng Zhang·He Wang
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Abstract

Due to the highly deformable nature of garments, training a generalizable policy for robotic T-shirt folding and unfolding remains a significant challenge. In this work, we present a large-scale synthetic dataset for robotic T-shirt folding and unfolding, covering 6 robotic embodiments, 1K T-shirts, 1K environmental assets, and 120K episodes with rich annotations, which can be used to train a wide range of manipulation policies. We first follow the FoldNet pipeline to generate a large-scale dataset of physically simulatable T-shirts with diverse appearances and annotated semantic keypoints. Based on these semantic keypoints, we then generate manipulation demonstrations for different robotic embodiments through a unified rule-based framework. We use these demonstrations to train visuomotor policies, and experimental results demonstrate that models trained solely on our synthetic data can achieve over 90\% end-to-end task success rates when directly deployed to unseen real-world environments and previously unseen T-shirts from arbitrary initial configurations. Project URL: https://pku-epic.github.io/FoldNetXX/.

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Yuxing Chen, Zhiyuan Wei, Bowen Xiao, Zhizheng Zhang, He Wang. 2026-09-11. FoldNet++: a Large-Scale Synthetic Dataset for Robotic T-Shirt Folding and Unfolding. https://arxiv.org/abs/2609.12433

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