arxiv: 2604.22363 · v1 · submitted 2026-04-24 · 💻 cs.RO · cs.AI

Recognition: unknown

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

Chaorui Zhang, Fei Teng, Hongjun Yang, Kyle Xu, Ming Chen, Ruihai Wu, Shawn Xie, Siyi Lin, Steve Xie, Tianxing Chen, Wenjun Li, Yan Shen, Yue Chen, Yukun Zheng, Yuran Wang, Yushi Yang, Zeyi Li, Zhenhao Shen

Pith reviewed 2026-05-08 11:18 UTC · model grok-4.3

classification 💻 cs.RO cs.AI

keywords deformable object simulationhousehold roboticsrobotic manipulationsimulation environmentlow-cost robotsgarment manipulationfood item handlinghigh-fidelity dynamics

0 comments

The pith

LeHome is a simulation environment for high-fidelity modeling of deformable household objects across multiple robotic platforms including low-cost hardware.

A machine-rendered reading of the paper's core claim, the machinery that carries it, and where it could break.

The paper introduces LeHome to address the difficulty of simulating deformable objects like garments and food in household robotics settings. Existing simulators lack the necessary support for complex dynamics and material variations that arise in these tasks. LeHome provides detailed object models with realistic physics and interfaces to different robot types, with special attention to affordable hardware. This allows full task pipelines to be tested from start to finish without immediate reliance on expensive physical systems. A reader would care because better simulation tools can speed up the creation of practical robots that handle everyday items reliably.

Core claim

LeHome is a comprehensive simulation environment designed for deformable object manipulation in household scenarios. It 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.

What carries the argument

LeHome, the simulation environment that supplies high-fidelity deformable object models and multi-embodiment robot interfaces for household task evaluation.

Load-bearing premise

The physics engine and object models inside LeHome actually deliver higher fidelity and more realistic behavior for complex deformable dynamics and material properties than prior simulators.

What would settle it

A direct comparison of simulation results against real-world recordings of the same tasks, such as folding a garment or handling a food item with a low-cost robot, to check whether LeHome matches physical outcomes more closely than other available simulators.

Figures

Figures reproduced from arXiv: 2604.22363 by Chaorui Zhang, Fei Teng, Hongjun Yang, Kyle Xu, Ming Chen, Ruihai Wu, Shawn Xie, Siyi Lin, Steve Xie, Tianxing Chen, Wenjun Li, Yan Shen, Yue Chen, Yukun Zheng, Yuran Wang, Yushi Yang, Zeyi Li, Zhenhao Shen.

**Figure 1.** Figure 1: LeHome provides a high-fidelity simulation platform by integrating various household scenarios and various objects within the scenarios, especially deformable objects. Abstract— 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 realw… view at source ↗

**Figure 2.** Figure 2: The Architecture of LeHome. (Left) LeHome Assets can deliver realistic simulations of different robots, articulation/rigid objects, deformable objects, and cover multiple household scenarios. (Right) Leveraging diverse simulation methods and mechanisms, LeHome Engine enables various simulation capabilities. (Bottom) Subsequently, LeHome Benchmark utilizes these assets to construct tasks, conduct domain ran… view at source ↗

**Figure 3.** Figure 3: Simulated Deformble Objects cover 6 categories with visually and physically high-fidelity assets for each category. to model fine-grained manipulation dynamics. The third is LeHome Benchmark, which defines representative household tasks and supports teleoperation data collection for training and evaluation. Together, these components form a unified framework that combines realistic scene modeling, control… view at source ↗

**Figure 4.** Figure 4: Diverse Manipulation Mechanisms. LeHome models causal relationships of manipulation through the action graph, ensuring the simulation results align with real-world causal relationships and providing high-fidelity interactions. 6) Volumetric Object: All volumetric deformable objects (e.g., patty, sausage) are simulated using FEM with volumetric discretization, enabling elastic or elastoplastic stress-strai… view at source ↗

**Figure 6.** Figure 6: Teleoperation Methods. (Left) We use Joystick and Keyboard to teleoperate XLeRobot, and (Right) LeaderFollower Teleoperation for LeRobot. IV. EXPERIMENT With the proposed LeHome environment, we conduct experiments to demonstrate that LeHome offers high-fidelity simulation (especially for deformable objects) to support policy learning across diverse household tasks, and that training in LeHome facilitates … view at source ↗

**Figure 7.** Figure 7: Gallery of Evaluated Tasks. Fold Assemble Wipe view at source ↗

read the original abstract

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/ .

Editorial analysis

A structured set of objections, weighed in public.

Desk editor's note, referee report, simulated authors' rebuttal, and a circularity audit. Tearing a paper down is the easy half of reading it; the pith above is the substance, this is the friction.

Desk Editor's Note private letter to a colleague

LeHome introduces a targeted sim environment for household deformables and low-cost robots, but its claims of superior fidelity lack any quantitative validation or comparisons.

read the letter

LeHome is a new simulation environment built for manipulating deformable objects in household scenarios, with coverage of garments, food items, and similar stuff, plus support for multiple robots including cheap ones. The paper positions it as a testbed to enable end-to-end task evaluation where existing tools fall short on realistic dynamics and practical hardware constraints. That specific focus is the main new element here, and it lines up with a real gap in robotics sim work for home settings. The description of object variety and robot embodiments comes across as straightforward and potentially useful for prototyping. The low-cost emphasis stands out as a practical angle that many sim papers overlook. The soft spot is the repeated assertion that LeHome delivers high-fidelity dynamics and interactions that prior simulators cannot handle accurately. No validation metrics, no head-to-head benchmarks on deformation accuracy, no comparisons to real-world captures, and no error numbers appear in the provided material. Without that evidence the superiority claim stays unproven, which undercuts how much the environment actually advances the state of the art. The rest of the paper reads as a standard tool introduction with no circular reasoning or unsupported derivations. This is for researchers in household robotics and sim-to-real transfer who need a new platform to test deformable manipulation ideas on accessible hardware. Someone already working in that area might pull useful setup details from it. It deserves peer review because a focused environment paper can still help the community if reviewers can verify the implementation and require the missing quantitative checks on fidelity.

Referee Report

2 major / 1 minor

Summary. The paper introduces LeHome, a simulation environment for deformable object manipulation in household scenarios. It claims to cover a wide spectrum of deformable objects such as garments and food items with high-fidelity dynamics and realistic interactions, supports multiple robotic embodiments with emphasis on low-cost robots, and serves as a scalable testbed for end-to-end evaluation of household tasks.

Significance. If the fidelity and realism claims are substantiated with quantitative evidence, LeHome could provide a valuable, accessible testbed for household robotics research, particularly for manipulation tasks involving complex deformables on resource-constrained hardware where existing simulators fall short.

major comments (2)

[Abstract] Abstract: The central claim that LeHome offers 'high-fidelity dynamics and realistic interactions that existing simulators struggle to simulate accurately' is load-bearing for the contribution but is presented without any quantitative validation metrics, error comparisons to real-world data, or head-to-head benchmarks against prior simulators. This leaves the superiority assertion unsupported.
The manuscript positions the physics engine and object models as achieving meaningfully higher fidelity for garments, food, and other household deformables, yet provides no implementation details, material parameter identification results, or standardized deformation task scores to allow assessment of whether the dynamics are measurably more realistic under equivalent conditions.

minor comments (1)

[Abstract] The abstract mentions a webpage but the manuscript would benefit from explicit statements on code availability, environment installation, and example task implementations to facilitate reproducibility.

Simulated Author's Rebuttal

2 responses · 0 unresolved

We thank the referee for the thoughtful and detailed comments. We agree that the claims regarding high-fidelity dynamics require stronger quantitative support and will revise the manuscript to include additional validation evidence and implementation details.

read point-by-point responses

Referee: [Abstract] Abstract: The central claim that LeHome offers 'high-fidelity dynamics and realistic interactions that existing simulators struggle to simulate accurately' is load-bearing for the contribution but is presented without any quantitative validation metrics, error comparisons to real-world data, or head-to-head benchmarks against prior simulators. This leaves the superiority assertion unsupported.

Authors: We acknowledge that the abstract makes a strong claim that is not fully substantiated by quantitative evidence in the current version. The manuscript includes qualitative comparisons and task-level success rates in the experiments, but we agree these do not constitute rigorous validation. In the revised manuscript we will add a dedicated validation subsection reporting real-world deformation error metrics (e.g., point-wise tracking error under gravity and manipulation) and direct benchmark comparisons against MuJoCo and PyBullet on standardized household tasks. revision: yes
Referee: [—] The manuscript positions the physics engine and object models as achieving meaningfully higher fidelity for garments, food, and other household deformables, yet provides no implementation details, material parameter identification results, or standardized deformation task scores to allow assessment of whether the dynamics are measurably more realistic under equivalent conditions.

Authors: We agree that the current manuscript lacks sufficient implementation transparency and quantitative fidelity assessment. The physics engine description is high-level and material parameters are not reported. In the revision we will expand the methods section with the specific constitutive models used, the procedure for identifying material parameters from real-world measurements, and standardized deformation scores (e.g., normalized mean squared error on vertex positions for garment folding and food cutting tasks) to enable direct comparison with prior simulators under matched conditions. revision: yes

Circularity Check

0 steps flagged

No circularity: paper is a simulator introduction without derivations or self-referential predictions

full rationale

The manuscript introduces LeHome as a new simulation environment for deformable objects. It asserts high-fidelity dynamics and superiority over prior simulators but contains no equations, fitted parameters, predictions derived from inputs, or load-bearing self-citations that reduce to the paper's own claims by construction. The central assertions are empirical or implementation claims, not a derivation chain. No steps match any of the enumerated circularity patterns.

Axiom & Free-Parameter Ledger

0 free parameters · 0 axioms · 0 invented entities

No free parameters, axioms, or invented entities are specified in the abstract; the contribution rests on the creation and claimed properties of the simulation environment itself rather than new theoretical constructs.

pith-pipeline@v0.9.0 · 5515 in / 1143 out tokens · 28432 ms · 2026-05-08T11:18:39.417441+00:00 · methodology

discussion (0)

Reference graph

Works this paper leans on

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