LeHome

L e H o m e

A Simulation Environment for Deformable Object Manipulation in Household Scenarios

Paper Code Asset

Video

Highlights

LeHome assets, engine, and benchmark overview
01 Household Scenes
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.
02 Deformable Physics
LeHome focuses on Deformable Object simulation and manipulation, covering Six Physical Categories: Liquid, Gaseous Fluid, Granular Object, Linear Object, Thin Shell, and Volumetric Object. 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.
03 Action Graph
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.
04 Robot Support
LeHome supports Low-Cost and Open-Source robots. 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.

Pour the coffee beans out of the bowl.

Wipe the dust off the table with a sponge.

Place the beef patties on the bread on the plate.

Cut the sausage into sections with a knife.

Plug the cable into the socket.

Hang the bag on the hanger hook.

Fold and unfold a poster.

Fling a denim top.

Wipe the dirty water off the floor with a rag.

Deformation of ketchup on bread.

Operate the knob until flame appears.

Use sweeping to clean particles.

Open and close blinds.

Turn on the microwave as the light comes on.

Operating the knob to heat the beef patties.

Fold denim jacket on the table.

Citation

@inproceedings{li2026lehome,
  title={{LeHome}: A Simulation Environment for Deformable Object Manipulation in Household Scenarios},
  author={Zeyi Li and Yushi Yang and Shawn Xie and Kyle Xu and Tianxing Chen and Yuran Wang and Zhenhao Shen and Yan Shen and Yue Chen and Wenjun Li and Yukun Zheng and Chaorui Zhang and Siyi Lin and Fei Teng and Hongjun Yang and Ming Chen and Steve Xie and Ruihai Wu},
  booktitle={2026 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2026},
  eprint={2604.22363},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2604.22363}
}