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

LeHome simulates Four Household Environments (kitchen, living room, washroom, and bedroom) with photorealistic assets and diverse interactive objects. These scenes cover a wide range of Daily Tasks such as folding clothes, cooking, and cleaning, providing a comprehensive platform for studying embodied manipulation in realistic home settings.

LeHome focuses on Deformable Object simulation and manipulation, covering Six Physical Categories: Liquid, Gaseous Fluid, Granular Object, Linear Object, Thin Shell, and Volumetric Objec. Using methods like PBD and FEM, it achieves high-fidelity simulations of elastic, plastic, and flow behaviors, enabling Realistic Interactions such as cutting, wrinkling, and pouring.

LeHome introduces the Action Graph, a causal event-driven mechanism that links physical dynamics with logical task execution. This system ensures realistic cause-effect relationships in manipulation — such as a knife cutting a sausage or opening a microwave — by modeling triggers, computations, and state updates in a structured graph.

LeHome supports Low-Cost & Open-Source robot. It supports keyboard, game controller, and leader–follower teleoperation, enabling easy data collection and high-fidelity teleoperation demonstrations. This combination offers an affordable, scalable solution for developing and testing household robotic policies.