LeHome: A Simulation Environment for Deformable Object Manipulation in Household Scenarios
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 e...
| Authors | Zeyi Li, Yushi Yang, Shawn Xie et al. |
|---|---|
| Primary category | cs.RO |
| Published | 24 April 2026 |
| Last updated at source | 24 April 2026 |
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