{"id":"https://openalex.org/W7155930012","doi":"https://doi.org/10.48550/arxiv.2604.22363","title":"LeHome: A Simulation Environment for Deformable Object Manipulation in Household Scenarios","display_name":"LeHome: A Simulation Environment for Deformable Object Manipulation in Household Scenarios","publication_year":2026,"publication_date":"2026-04-24","ids":{"openalex":"https://openalex.org/W7155930012","doi":"https://doi.org/10.48550/arxiv.2604.22363"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.22363","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.22363","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.22363","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018047044","display_name":"Zeyi Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Li, Zeyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101569639","display_name":"Yushi Yang","orcid":"https://orcid.org/0009-0004-1980-0750"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Yushi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134015622","display_name":"Shawn Xie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Shawn","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134299299","display_name":"Kyle Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Kyle","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134703763","display_name":"Tianxing Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Tianxing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134726136","display_name":"Yuran Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yuran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134029927","display_name":"Zhenhao Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Zhenhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134690733","display_name":"Yan Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Yan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134698017","display_name":"Yue Chen Yue Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134690225","display_name":"Wenjun Li","orcid":"https://orcid.org/0009-0007-3850-5134"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Wenjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134729098","display_name":"Yukun Zheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Yukun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134709114","display_name":"Chaorui Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Chaorui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134663656","display_name":"Siyi Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Siyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134693365","display_name":"Fei Teng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Teng, Fei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004519375","display_name":"Hongjun Yang","orcid":"https://orcid.org/0000-0001-8206-0952"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Hongjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134716694","display_name":"Ming Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Ming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134701801","display_name":"Steve Xie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Steve","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134702783","display_name":"Ruihai Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Ruihai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":18,"corresponding_author_ids":["https://openalex.org/A5018047044"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.34380000829696655,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.34380000829696655,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.16529999673366547,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.15360000729560852,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.725600004196167},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.6269000172615051},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5598999857902527},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.505299985408783},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.4487000107765198},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.42570000886917114}],"concepts":[{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.725600004196167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6966000199317932},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.6269000172615051},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5598999857902527},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.505299985408783},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.4487000107765198},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.42570000886917114},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42500001192092896},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36719998717308044},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34290000796318054},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.33180001378059387},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.33059999346733093},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3091000020503998},{"id":"https://openalex.org/C530175646","wikidata":"https://www.wikidata.org/wiki/Q11460","display_name":"Clothing","level":2,"score":0.28870001435279846},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2572000026702881},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.25440001487731934},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.25189998745918274}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.22363","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.22363","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.22363","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.22363","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Zero hunger","score":0.4363182783126831,"id":"https://metadata.un.org/sdg/2"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Household":[0],"environments":[1],"present":[2],"one":[3],"of":[4,47,74,113],"the":[5,45,121],"most":[6],"common,":[7],"impactful":[8],"yet":[9],"challenging":[10],"application":[11],"domains":[12],"for":[13,62,137],"robotics.":[14,140],"Within":[15],"household":[16,67,114,139],"scenarios,":[17],"manipulating":[18],"deformable":[19,63,75,125],"objects":[20],"is":[21],"particularly":[22],"difficult,":[23],"both":[24],"in":[25,51,66],"simulation":[26,59,127],"and":[27,34,38,80,86,102,128],"real-world":[28],"execution,":[29],"due":[30],"to":[31,93],"varied":[32],"categories":[33],"shapes,":[35],"complex":[36],"dynamics,":[37],"diverse":[39],"material":[40],"properties,":[41],"as":[42,44,78,106],"well":[43],"lack":[46],"reliable":[48],"deformable-object":[49],"support":[50],"existing":[52,90],"simulations.":[53],"We":[54],"introduce":[55],"LeHome,":[56],"a":[57,71,107,134],"comprehensive":[58],"environment":[60],"designed":[61],"object":[64,126],"manipulation":[65],"scenarios.":[68],"LeHome":[69,97,132],"covers":[70],"wide":[72],"spectrum":[73],"objects,":[76],"such":[77],"garments":[79],"food":[81],"items,":[82],"offering":[83],"high-fidelity":[84],"dynamics":[85],"realistic":[87,124],"interactions":[88],"that":[89],"simulators":[91],"struggle":[92],"simulate":[94],"accurately.":[95],"Moreover,":[96],"supports":[98],"multiple":[99],"robotic":[100,130],"embodiments":[101],"emphasizes":[103],"low-cost":[104],"robots":[105],"core":[108],"focus,":[109],"enabling":[110],"end-to-end":[111],"evaluation":[112],"tasks":[115],"on":[116],"resource-constrained":[117],"hardware.":[118],"By":[119],"bridging":[120],"gap":[122],"between":[123],"practical":[129],"platforms,":[131],"provides":[133],"scalable":[135],"testbed":[136],"advancing":[138],"Webpage:":[141],"https://lehome-web.github.io/":[142],".":[143]},"counts_by_year":[],"updated_date":"2026-04-28T06:12:00.211691","created_date":"2026-04-28T00:00:00"}
