Instant-Fold: In-Context Imitation Learning for Deformable Object Manipulation

arXiv:2606.04269v1 Announce Type: cross Abstract: Deformable object manipulation (DOM) is challenging due to high-dimensional, partially observable states that evolve through long-horizon, topology-changing interactions with multiple valid manipulation modes. We introduce Instant-Fold, an in-context imitation learning framework for DOM. Given a single human demonstration, our policy infers and executes diverse manipulation modes directly from the demonstration, including variations in spatial execution and ordering, without requiring gradient updates. Our approach first learns deformation-awar

Source: arXiv cs.AI — read the full report at the original publisher.

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