$ pip install ai2thor
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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

AI2-THOR v2.7.0
May 2020
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.
RoboTHOR Challenge
February 2021
We are excited to announce the RoboTHOR Challenge to be held in conjunction with CVPR 2021.