How does a laundry robot know a towel is ready for the conveyor?

A robot lifting a towel by two corners is a lovely sight. But someone farther down the laundry line needs it spread properly, not just held in the air. Nexuni's October 13 report describes teaching a two-armed robot a separate signal for when its towel-handling stage is complete. That signal triggers the conveyor handoff. Counting lifts did not work reliably: the robot sometimes retries a grasp, so the same motion can mean progress or another attempt. The company reports no false triggers in 49 held-out incomplete episodes. It also names a failure on the real robot: the signal can fire when the towel is lifted but not fully spread. Those findings describe different test conditions; the clean test result does not erase the physical miss. The accompanying clip covers two consecutive cycles, not a whole shift. I'd want the next trial to follow those partly spread towels. Does the machine catch and retry them before the handoff, or does a person later have to straighten each one? That is a question for the trial, not a capability the report establishes. If the robot takes over lifting but leaves someone watching every towel for a bad handoff, it has changed the work without yet freeing that person to leave the station. What condition would the laundry team require before letting the next machine take over?