There are a total 120 scenes in version 1.0 of the THOR environment covering four different room categories: kitchens, living rooms, bedrooms, and bathrooms. Each room has a number of actionable objects. During scene initialization, objects can be placed on different receptacles so we can obtain many different configurations for a single scene. Hence, the number of configurations is much larger than 120.

Kitchens (30 scenes, FloorPlan1 - FloorPlan30)


Screenshot from FloorPlan28

Living Rooms (30 scenes, FloorPlan201 - FloorPlan230)


Screenshot from FloorPlan204

Bedrooms (30 scenes, FloorPlan301 - FloorPlan330)


Screenshot from FloorPlan303

Bathrooms (30 scenes, FloorPlan401 - FloorPlan430)


Screenshot from FloorPlan303

Next Steps

Continue on to the Actions tutorial.