Weave robotics (no affiliation) claims they are folding over 1,000 lbs of laundry a week in homes right now: https://www.weaverobotics.com. I have no idea how well these work.
And existin videos elsewhere don't inspire confidence: https://www.reddit.com/r/robotics/comments/1reacvq/weave_rob... (though it is impressive in a way)