LeHome: A Simulation Environment for Deformable Object Manipulation in Household Scenarios

• URL: http://arxiv.org/abs/2604.22363v1
• Date: Fri, 24 Apr 2026 08:53:56 GMT
• Title: LeHome: A Simulation Environment for Deformable Object Manipulation in Household Scenarios
• Abstract summary: LeHome is a comprehensive simulation environment designed for deformable object manipulation in household scenarios.<n>LeHome covers a wide spectrum of deformable objects, such as garments and food items, offering high-fidelity dynamics.<n>LeHome emphasizes low-cost robots as a core focus, enabling end-to-end evaluation of household tasks on resource-constrained hardware.
• Score: 24.415846855112033
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Household environments present one of the most common, impactful yet challenging application domains for robotics. Within household scenarios, manipulating deformable objects is particularly difficult, both in simulation and real-world execution, due to varied categories and shapes, complex dynamics, and diverse material properties, as well as the lack of reliable deformable-object support in existing simulations. We introduce LeHome, a comprehensive simulation environment designed for deformable object manipulation in household scenarios. LeHome covers a wide spectrum of deformable objects, such as garments and food items, offering high-fidelity dynamics and realistic interactions that existing simulators struggle to simulate accurately. Moreover, LeHome supports multiple robotic embodiments and emphasizes low-cost robots as a core focus, enabling end-to-end evaluation of household tasks on resource-constrained hardware. By bridging the gap between realistic deformable object simulation and practical robotic platforms, LeHome provides a scalable testbed for advancing household robotics. Webpage: https://lehome-web.github.io/ .

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