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

arXiv: https://arxiv.org/abs/2604.22363 · HTML: https://mlsanity.com/paper/2604.22363/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 32 of its 44 references that are in the map.
- First posted on arXiv 24 Apr 2026.

## Builds on (most cited first, 30 of 32)

- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [RLBench: The Robot Learning Benchmark & Learning Environment](https://mlsanity.com/paper/1909.12271/) (2019)
- [SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics](https://mlsanity.com/paper/2506.01844/) (2025)
- [RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation](https://mlsanity.com/paper/2506.18088/) (2025)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots](https://mlsanity.com/paper/2406.02523/) (2024)
- [Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation](https://mlsanity.com/paper/2401.02117/) (2024)
- [ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI](https://mlsanity.com/paper/2410.00425/) (2024)
- [iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks](https://mlsanity.com/paper/2108.03272/) (2021)
- [SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation](https://mlsanity.com/paper/2011.07215/) (2020)
- [RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins](https://mlsanity.com/paper/2504.13059/) (2025)
- [HomeRobot: Open-Vocabulary Mobile Manipulation](https://mlsanity.com/paper/2306.11565/) (2023)
- [PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physics](https://mlsanity.com/paper/2104.03311/) (2021)
- [FlingBot: The Unreasonable Effectiveness of Dynamic Manipulation for Cloth Unfolding](https://mlsanity.com/paper/2105.03655/) (2021)
- [Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks](https://mlsanity.com/paper/2012.03385/) (2020)
- [RoboCook: Long-Horizon Elasto-Plastic Object Manipulation with Diverse Tools](https://mlsanity.com/paper/2306.14447/) (2023)
- [ARNOLD: A Benchmark for Language-Grounded Task Learning With Continuous States in Realistic 3D Scenes](https://mlsanity.com/paper/2304.04321/) (2023)
- [DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting](https://mlsanity.com/paper/2105.12244/) (2021)
- [RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning](https://mlsanity.com/paper/2504.18904/) (2025)
- [DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools](https://mlsanity.com/paper/2203.17275/) (2022)
- [FluidLab: A Differentiable Environment for Benchmarking Complex Fluid Manipulation](https://mlsanity.com/paper/2303.02346/) (2023)
- [BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities](https://mlsanity.com/paper/2503.05652/) (2025)
- [ClothesNet: An Information-Rich 3D Garment Model Repository with Simulated Clothes Environment](https://mlsanity.com/paper/2308.09987/) (2023)
- [GarmentLab: A Unified Simulation and Benchmark for Garment Manipulation](https://mlsanity.com/paper/2411.01200/) (2024)
- [Contact Points Discovery for Soft-Body Manipulations with Differentiable Physics](https://mlsanity.com/paper/2205.02835/) (2022)
- [UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment Folding](https://mlsanity.com/paper/2311.01267/) (2023)

## Built on by (most cited first, 2 of 2)

- [GASE: Gaussian Splatting-Based Automated System for Reconstructing Embodied-Simulation Environments](https://mlsanity.com/paper/2606.17520/) (2026)
- [Learning to Fold: prizewinning solution at LeHome Challenge 2026 (1st place online, 2nd offline)](https://mlsanity.com/paper/2606.27163/) (2026)

## Abstract (arXiv)

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/ .