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

2026-04-24

AI Summary

Manipulating deformable objects—such as clothing and food—in domestic environments poses significant challenges due to their highly variable shapes, diverse material properties, and complex dynamics, while existing simulation platforms struggle to provide high-fidelity support. To address this gap, this work proposes LeHome, a simulation environment specifically designed for deformable object manipulation in household settings. LeHome is the first to systematically integrate high-fidelity physics-based simulation of deformable objects with low-cost robotic platforms, enabling end-to-end task evaluation across multiple robot embodiments and on resource-constrained hardware. By substantially enhancing the realism and practicality of deformable object manipulation in simulation, LeHome fills a critical testing void for domestic service robotics in this domain.

Technology Category

• Intelligent Robots: Manipulation
• Computer Vision: Low Level & Physics-based Vision
• Search and Optimization: Sampling/Simulation-based Search

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environments
• User Modeling, Personalization and Recommendation: User modeling and simulation for interactive and conversational systems
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs

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/ .

Problem

• deformable object manipulation
• household robotics
• simulation environment
• robotic manipulation
• realistic dynamics

Innovation

• deformable object manipulation
• household robotics
• high-fidelity simulation
• low-cost robots
• simulation environment