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/ .
@article{arxiv.2604.22363,
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},
journal= {arXiv preprint arXiv:2604.22363},
year = {2026}
}