{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T05:11:24Z","timestamp":1777871484228,"version":"3.51.4"},"reference-count":40,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Knowledge-Based Systems"],"published-print":{"date-parts":[[2026,6]]},"DOI":"10.1016\/j.knosys.2026.115847","type":"journal-article","created":{"date-parts":[[2026,4,2]],"date-time":"2026-04-02T15:57:47Z","timestamp":1775145467000},"page":"115847","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["Fold-Llama: Data-efficient robotic fabric folding via geometry-to-text encoding and lightweight LLMs fine-tuning"],"prefix":"10.1016","volume":"342","author":[{"given":"Ruhan","family":"He","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xuan","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lianqing","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3236-6766","authenticated-orcid":false,"given":"Xianyi","family":"Zeng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yangjun","family":"Ou","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"78","reference":[{"key":"10.1016\/j.knosys.2026.115847_bib0001","series-title":"2011 IEEE International Conference on Robotics and Automation","first-page":"4861","article-title":"Parametrized shape models for clothing","author":"Miller","year":"2011"},{"key":"10.1016\/j.knosys.2026.115847_bib0002","series-title":"2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"1413","article-title":"Bimanual robotic cloth manipulation for laundry folding","author":"Bersch","year":"2011"},{"issue":"1","key":"10.1016\/j.knosys.2026.115847_bib0003","doi-asserted-by":"crossref","first-page":"14","DOI":"10.1109\/37.463","article-title":"Vision-guided robotic fabric manipulation for apparel manufacturing","volume":"8","author":"Torgerson","year":"1988","journal-title":"IEEE Control Syst. Mag."},{"key":"10.1016\/j.knosys.2026.115847_bib0004","series-title":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","first-page":"9651","article-title":"Deep imitation learning of sequential fabric smoothing from an algorithmic supervisor","author":"Seita","year":"2020"},{"key":"10.1016\/j.knosys.2026.115847_bib0005","series-title":"2022 Conference on Robot Learning","first-page":"192","article-title":"Fabricflownet: bimanual cloth manipulation with a flow-based policy","volume":"164","author":"Weng","year":"2022"},{"issue":"1","key":"10.1016\/j.knosys.2026.115847_bib0006","doi-asserted-by":"crossref","first-page":"175","DOI":"10.1007\/s10514-021-10001-0","article-title":"Visuospatial foresight for physical sequential fabric manipulation","volume":"46","author":"Hoque","year":"2022","journal-title":"Auton. Robots"},{"key":"10.1016\/j.knosys.2026.115847_bib0007","series-title":"2021 Conference on Robot Learning","first-page":"2317","article-title":"Learning arbitrary-goal fabric folding with one hour of real robot experience","volume":"164","author":"Lee","year":"2021"},{"issue":"2","key":"10.1016\/j.knosys.2026.115847_bib0008","doi-asserted-by":"crossref","first-page":"760","DOI":"10.1109\/LRA.2022.3229573","article-title":"Foldsformer: learning sequential multi-step cloth manipulation with space-time attention","volume":"8","author":"Mo","year":"2023","journal-title":"IEEE Rob. Autom. Lett."},{"key":"10.1016\/j.knosys.2026.115847_bib0009","unstructured":"V. Raval, E. Zhao, H. Zhang, S. Nikolaidis, D. Seita, GPT-fabric: Smoothing and folding fabric by leveraging pre-trained foundation models, 2024, arXiv: 2406.09640. 10.48550\/arXiv.2406.09640."},{"key":"10.1016\/j.knosys.2026.115847_bib0010","doi-asserted-by":"crossref","first-page":"54608","DOI":"10.1109\/ACCESS.2024.3389497","article-title":"Gpt (generative pre-trained transformer)-a comprehensive review on enabling technologies, potential applications, emerging challenges, and future directions","volume":"12","author":"Yenduri","year":"2024","journal-title":"IEEE Access"},{"key":"10.1016\/j.knosys.2026.115847_bib0011","doi-asserted-by":"crossref","first-page":"88","DOI":"10.1016\/j.rcim.2017.05.007","article-title":"A statistical review of industrial robotic grippers","volume":"49","author":"Birglen","year":"2018","journal-title":"Robot. Comput. Integr. Manuf."},{"key":"10.1016\/j.knosys.2026.115847_bib0012","doi-asserted-by":"crossref","unstructured":"B. Kouvaritakis, M. Cannon, Model predictive control, Swit. Spri. Inte. Publ. 38 (13\u201356) (2016) 7. 10.1007\/978-3-319-24853-0.","DOI":"10.1007\/978-3-319-24853-0_2"},{"key":"10.1016\/j.knosys.2026.115847_bib0013","doi-asserted-by":"crossref","DOI":"10.1016\/j.robot.2022.104264","article-title":"Goal-aware generative adversarial imitation learning from imperfect demonstration for robotic cloth manipulation","volume":"158","author":"Tsurumine","year":"2022","journal-title":"Rob. Auton. Syst."},{"key":"10.1016\/j.knosys.2026.115847_bib0014","unstructured":"C. Zhou, F. Luan, J. Hu, S. Meng, Z. Wang, Y. Dong, Y. Zhou, B. He, Learning Efficient Robotic Garment Manipulation with Standardization, 2025, arXiv: 2506.22769. 10.48550\/arXiv.2506.22769."},{"key":"10.1016\/j.knosys.2026.115847_bib0015","doi-asserted-by":"crossref","DOI":"10.1016\/j.knosys.2025.113738","article-title":"Memory-gated diffusion policy: advancing robotic behaviour learning with memory-oriented architectures","volume":"325","author":"Huang","year":"2025","journal-title":"Knowl. Based Syst."},{"key":"10.1016\/j.knosys.2026.115847_bib0016","doi-asserted-by":"crossref","DOI":"10.1016\/j.knosys.2025.114576","article-title":"H-RIL: A Hopf-based robot imitation learning framework for modular antenna structure assembly","volume":"330","author":"Zhang","year":"2025","journal-title":"Knowl. Based Syst."},{"key":"10.1016\/j.knosys.2026.115847_bib0017","unstructured":"D. Driess, F. Xia, M.S.M. Sajjadi, C. Lynch, A. Chowdhery, B. Ichter, A. Wahid, J. Tompson, Q. Vuong, T. Yu, et al., Palm-e: An embodied multimodal language model, 2023, arXiv: 2303.03378. 10.48550\/arXiv.2303.03378."},{"key":"10.1016\/j.knosys.2026.115847_bib0018","series-title":"2024 International Conference on Artificial Life & Robotics (ICAROB2024)","first-page":"OS15","article-title":"Development of a SayCan-based task planning system capable of handling abstract nouns","author":"Yamao","year":"2024"},{"key":"10.1016\/j.knosys.2026.115847_bib0019","unstructured":"A. Dubey, A. Jauhri, A. Pandey, A. Kadian, A. Al-Dahle, A. Letman, A. Mathur, A. Schelten, A. Yang, A. Fan, et al., The llama 3 herd of models,2024, arXiv: 2407.21783. 10.48550\/arXiv.2407.21783."},{"key":"10.1016\/j.knosys.2026.115847_bib0020","series-title":"2024 Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers)","first-page":"177","article-title":"How abilities in large language models are affected by supervised fine-tuning data composition","author":"Dong","year":"2024"},{"key":"10.1016\/j.knosys.2026.115847_bib0021","unstructured":"Y. Bai, A. Jones, K. Ndousse, A. Askell, A. Chen, N. DasSarma, D. Drain, S. Fort, D. Ganguli, T. Henighan, et al., Training a helpful and harmless assistant with reinforcement learning from human feedback,2022, arXiv: 2204.05862. 10.48550\/arXiv.2204.05862."},{"key":"10.1016\/j.knosys.2026.115847_bib0022","doi-asserted-by":"crossref","DOI":"10.1016\/j.neucom.2023.127063","article-title":"Roformer: enhanced transformer with rotary position embedding","volume":"568","author":"Su","year":"2024","journal-title":"Neurocomputing"},{"key":"10.1016\/j.knosys.2026.115847_bib0023","series-title":"2023 Conference on Empirical Methods in Natural Language Processing","first-page":"4895","article-title":"GQA: Training generalized multi-query transformer models from multi-head checkpoints","author":"Ainslie","year":"2023"},{"key":"10.1016\/j.knosys.2026.115847_bib0024","series-title":"2024 Conference of the North American Chapter of the Association for Computational Linguistics: Human Language Technologies","first-page":"1836","article-title":"Prompt space optimizing few-shot reasoning success with large language models","author":"Shi","year":"2024"},{"issue":"5","key":"10.1016\/j.knosys.2026.115847_bib0025","doi-asserted-by":"crossref","DOI":"10.1016\/j.ipm.2024.103809","article-title":"Are LLMs good at structured outputs? a benchmark for evaluating structured output capabilities in LLMs","volume":"61","author":"Liu","year":"2024","journal-title":"Infor. Process. Manage."},{"key":"10.1016\/j.knosys.2026.115847_bib0026","series-title":"2023AAAI Conference on Artificial Intelligence","first-page":"12799","article-title":"On the effectiveness of parameter-efficient fine-tuning","volume":"37","author":"Fu","year":"2023"},{"issue":"2","key":"10.1016\/j.knosys.2026.115847_bib0027","first-page":"3","article-title":"Lora: low-rank adaptation of large language models","volume":"1","author":"Hu","year":"2022","journal-title":"ICLR"},{"issue":"8081","key":"10.1016\/j.knosys.2026.115847_bib0028","doi-asserted-by":"crossref","first-page":"633","DOI":"10.1038\/s41586-025-09422-z","article-title":"DeepSeek-R1 incentivizes reasoning in LLMs through reinforcement learning","volume":"645","author":"Guo","year":"2025","journal-title":"Nature"},{"key":"10.1016\/j.knosys.2026.115847_bib0029","series-title":"2024 Annual Meeting of the Association for Computational Linguistics (Volume 3: System Demonstrations)","first-page":"400","article-title":"Llamafactory: unified efficient fine-tuning of 100+ language models","author":"Zheng","year":"2024"},{"key":"10.1016\/j.knosys.2026.115847_bib0030","series-title":"2023 Symposium on Operating Systems Principles","first-page":"611","article-title":"Efficient memory management for large language model serving with pagedattention","author":"Kwon","year":"2023"},{"key":"10.1016\/j.knosys.2026.115847_bib0031","series-title":"1988 Alvey Vision Conference","first-page":"10","article-title":"A combined corner and edge detector","volume":"15","author":"Harris","year":"1988"},{"key":"10.1016\/j.knosys.2026.115847_bib0032","unstructured":"I. Loshchilov, F. Hutter, Decoupled Weight Decay Regularization, 2019, arXiv: 1711.05101. 10.48550\/arXiv.1711.05101."},{"key":"10.1016\/j.knosys.2026.115847_bib0033","series-title":"2020 Conference on Robot Learning","first-page":"432","article-title":"Softgym: benchmarking deep reinforcement learning for deformable object manipulation","volume":"155","author":"Lin","year":"2021"},{"key":"10.1016\/j.knosys.2026.115847_bib0034","series-title":"2019 International Conference on Robotics and Automation (ICRA)","first-page":"190","article-title":"Moveit! task constructor for task-level motion planning","author":"G\u00f6rner","year":"2019"},{"key":"10.1016\/j.knosys.2026.115847_bib0035","series-title":"2004ACM Transactions on Graphics (TOG)","first-page":"309","article-title":"Grabcut: interactive foreground extraction using iterated graph cuts","volume":"23","author":"Rother","year":"2004"},{"key":"10.1016\/j.knosys.2026.115847_bib0036","doi-asserted-by":"crossref","DOI":"10.1016\/j.aei.2024.102986","article-title":"Pseudo-label guided dual classifier domain adversarial network for unsupervised cross-domain fault diagnosis with small samples","volume":"64","author":"Sun","year":"2025","journal-title":"Adv. Eng. Inf."},{"issue":"15","key":"10.1016\/j.knosys.2026.115847_bib0037","doi-asserted-by":"crossref","first-page":"31629","DOI":"10.1109\/JIOT.2025.3573752","article-title":"A generic single-source domain generalization framework for fault diagnosis via wavelet packet augmentation and pseudo-domain generation","volume":"12","author":"Sun","year":"2025","journal-title":"IEEE Internet Things J."},{"key":"10.1016\/j.knosys.2026.115847_bib0038","doi-asserted-by":"crossref","DOI":"10.1016\/j.ins.2024.120261","article-title":"Almost surely safe exploration and exploitation for deep reinforcement learning with state safety estimation","volume":"662","author":"Lin","year":"2024","journal-title":"Inf. Sci."},{"issue":"9","key":"10.1016\/j.knosys.2026.115847_bib0039","doi-asserted-by":"crossref","first-page":"12419","DOI":"10.1109\/TNNLS.2023.3262956","article-title":"TAG: teacher-advice mechanism with gaussian process for reinforcement learning","volume":"35","author":"Lin","year":"2024","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"issue":"4","key":"10.1016\/j.knosys.2026.115847_bib0040","doi-asserted-by":"crossref","first-page":"5794","DOI":"10.1109\/TII.2023.3336225","article-title":"FHCPL: an intelligent fixed-horizon constrained policy learning system for risk-sensitive industrial scenario","volume":"20","author":"Lin","year":"2024","journal-title":"IEEE Trans. Ind. Inf."}],"container-title":["Knowledge-Based Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0950705126005733?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0950705126005733?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T17:17:42Z","timestamp":1777569462000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0950705126005733"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,6]]},"references-count":40,"alternative-id":["S0950705126005733"],"URL":"https:\/\/doi.org\/10.1016\/j.knosys.2026.115847","relation":{},"ISSN":["0950-7051"],"issn-type":[{"value":"0950-7051","type":"print"}],"subject":[],"published":{"date-parts":[[2026,6]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Fold-Llama: Data-efficient robotic fabric folding via geometry-to-text encoding and lightweight LLMs fine-tuning","name":"articletitle","label":"Article Title"},{"value":"Knowledge-Based Systems","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.knosys.2026.115847","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"115847"}}