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

TL;DR

LeHome is a versatile simulation platform that enables realistic deformable object manipulation in household scenarios, supporting various objects and low-cost robots for research and development.

Contribution

It introduces a high-fidelity, scalable simulation environment tailored for deformable objects in household robotics, addressing limitations of existing simulators.

Findings

Supports a wide range of deformable objects like garments and food.

Enables evaluation on resource-constrained hardware.

Bridges the gap between realistic simulation and practical robotic platforms.

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/ .