Demo

Current Scene: FloorPlan1

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Walk
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A
S
D
W: Ahead
A: Left
S: Back
D: Right
Run
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A
S
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Shift + A: Left
Shift + S: Back
Shift + D: Right
Look Around

Move the Mouse to look around the scene

Interact with Object

Left Click on an object close to the agent to interact with it

iTHOR includes 120 interactive scenes, evenly split between kitchens, living rooms, bedrooms, and bathrooms. It includes thousands of unique objects that have visual state changes such as open/close, on/off, and hot/cold. As an introductory example, try turning off the lights in FloorPlan1!

FloorPlan1
FloorPlan2
FloorPlan3
FloorPlan4
FloorPlan5
FloorPlan6
FloorPlan7
FloorPlan8
FloorPlan9
FloorPlan10
FloorPlan11
FloorPlan12
FloorPlan13
FloorPlan14
FloorPlan15
FloorPlan16
FloorPlan17
FloorPlan18
FloorPlan19
FloorPlan20
FloorPlan21
FloorPlan22
FloorPlan23
FloorPlan24
FloorPlan25
FloorPlan26
FloorPlan27
FloorPlan28
FloorPlan29
FloorPlan30
FloorPlan201
FloorPlan202
FloorPlan203
FloorPlan204
FloorPlan205
FloorPlan206
FloorPlan207
FloorPlan208
FloorPlan209
FloorPlan210
FloorPlan211
FloorPlan212
FloorPlan213
FloorPlan214
FloorPlan215
FloorPlan216
FloorPlan217
FloorPlan218
FloorPlan219
FloorPlan220
FloorPlan221
FloorPlan222
FloorPlan223
FloorPlan224
FloorPlan225
FloorPlan226
FloorPlan227
FloorPlan228
FloorPlan229
FloorPlan230
FloorPlan301
FloorPlan302
FloorPlan303
FloorPlan304
FloorPlan305
FloorPlan306
FloorPlan307
FloorPlan308
FloorPlan309
FloorPlan310
FloorPlan311
FloorPlan312
FloorPlan313
FloorPlan314
FloorPlan315
FloorPlan316
FloorPlan317
FloorPlan318
FloorPlan319
FloorPlan320
FloorPlan321
FloorPlan322
FloorPlan323
FloorPlan324
FloorPlan325
FloorPlan326
FloorPlan327
FloorPlan328
FloorPlan329
FloorPlan330
FloorPlan401
FloorPlan402
FloorPlan403
FloorPlan404
FloorPlan405
FloorPlan406
FloorPlan407
FloorPlan408
FloorPlan409
FloorPlan410
FloorPlan411
FloorPlan412
FloorPlan413
FloorPlan414
FloorPlan415
FloorPlan416
FloorPlan417
FloorPlan418
FloorPlan419
FloorPlan420
FloorPlan421
FloorPlan422
FloorPlan423
FloorPlan424
FloorPlan425
FloorPlan426
FloorPlan427
FloorPlan428
FloorPlan429
FloorPlan430

RoboTHOR includes 89 apartments, distributed as 60 training scenes, 15 validation scenes, and 14 testing scenes (which also exist in the real world). Scenes are numbered by WallConfiguration_i, where scenes that share the same first number share the same wall layout. The goal of RoboTHOR is to study sim2real transfer.

FloorPlan_Train1_1
FloorPlan_Train1_2
FloorPlan_Train1_3
FloorPlan_Train1_4
FloorPlan_Train1_5
FloorPlan_Train2_1
FloorPlan_Train2_2
FloorPlan_Train2_3
FloorPlan_Train2_4
FloorPlan_Train2_5
FloorPlan_Train3_1
FloorPlan_Train3_2
FloorPlan_Train3_3
FloorPlan_Train3_4
FloorPlan_Train3_5
FloorPlan_Train4_1
FloorPlan_Train4_2
FloorPlan_Train4_3
FloorPlan_Train4_4
FloorPlan_Train4_5
FloorPlan_Train5_1
FloorPlan_Train5_2
FloorPlan_Train5_3
FloorPlan_Train5_4
FloorPlan_Train5_5
FloorPlan_Train6_1
FloorPlan_Train6_2
FloorPlan_Train6_3
FloorPlan_Train6_4
FloorPlan_Train6_5
FloorPlan_Train7_1
FloorPlan_Train7_2
FloorPlan_Train7_3
FloorPlan_Train7_4
FloorPlan_Train7_5
FloorPlan_Train8_1
FloorPlan_Train8_2
FloorPlan_Train8_3
FloorPlan_Train8_4
FloorPlan_Train8_5
FloorPlan_Train9_1
F