Built for
$ pip install ai2thor


  • 120 rooms including kitchens, bedrooms, bathrooms and living rooms
  • Over 2000 unique objects for AI agents to interact with
  • Based on Unity 3D which enables physical simulation for objects and scenes
  • Includes objects with visual state changes including open/close, on/off, hot/cold
  • Support for multiple agent types such as humanoids and drones
  • Support for multiple agents in a single scene
Get Started
  • 89 apartments with 600+ objects for AI agents to navigate within
  • Physical and simulated counterparts for 14 apartments
  • Uses the Locobot robot with a Kinect camera
  • Apartments built in a modular fashion drawing from an asset library
  • Physical apartments are easily reconfigurable
  • Simulation and real environments accessible to all
Get Started

Framework Comparison

Environment Navigable 3D Scene Scans 3D Asset Library Newtonian Forces Object States Object Specific Reactions Dynamic Lighting Multiple Agents Real Counterpart
iGibson   Push forces        
Habitat   Collisions