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

Zeyi Li, Yushi Yang, Jingkai Xu, Shangbin Xie, Tianxing Chen, Yuran Wang, Zhenhao Shen, Yan Shen, Yukun Zheng, Wenjun Li, Chaorui Zhang, Ming Chen, Chen Xie, Ruihai Wu

Attend In Person: Yes

Keywords: High-Fidelity Simulation; Deformable Manipulation; Household Scenarios; Low-Cost Robot; Benchmark

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 complex dynamics, diverse material properties, and varied shapes, and thus existing simulation environments often fall short in providing reliable support for deformable objects. 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, sponges, bags, and food items, offering high-fidelity dynamics and realistic interactions that existing simulators struggle to capture. Moreover, LeHome supports multiple robotic embodiments and extends to low-cost robots, 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.

Submission Number: 20