Environments

iTHOR
  • 120 rooms including kitchens, bedrooms, bathrooms and living rooms
  • Over 2000 unique objects
  • 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
RoboTHOR
  • 89 apartments with 600+ objects
  • 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

Framework Comparison

EnvironmentNavigable3D Scene Scans3D Asset LibraryPhysics-Based InteractionObject StatesObject Specific ReactionsDynamic LightingMultiple AgentsReal Counterpart
AI2-THOR✓✓✓✓✓✓✓✓
iGibson✓✓✓✓
Habitat✓✓Collisions
Matterport3D✓✓
Minos✓✓
Definitions

Latest Updates

ManipulaTHOR Release
April 2021
We are excited to release ManipulaTHOR, an environment within AI2-THOR that facilitates visual manipulation of objects using a robotic arm.
AI2-THOR v2.7.0
February 2021
AI2-THOR v2.7.0 announces several massive speedups on to AI2-THOR!
Rearrange Challenge
February 2021
We are excited to announce the AI2-THOR Rearrangement Challenge to be held in conjunction with CVPR 2021.