MetaFold: Language-Guided Multi-Category Garment Folding Framework via Trajectory Generation and Foundation Model

Garment folding is a common yet challenging task in robotic manipulation. The deformability of garments leads to a vast state space and complex dynamics, which complicates precise and fine-grained manipulation. In this paper, we present MetaFold, a unified framework that disentangles task planning from action prediction and learns each independently to enhance model generalization. It employs language-guided point cloud trajectory generation for task planning and a low-level foundation model for action prediction. This structure facilitates multi-category learning, enabling the model to adapt flexibly to various user instructions and folding tasks. We also construct a large-scale MetaFold dataset comprising folding point cloud trajectories for a total of 1210 garments across multiple categories, each paired with corresponding language annotations. Extensive experiments demonstrate the superiority of our proposed framework. Supplementary materials are available on our website: https://meta-fold.github.io/.