An agent is a capsule shaped entity that can navigate within scenes and interact with objects.

A scene within AI2-THOR represents a virtual room that an agent can navigate and interact in. There are 4 scene Categories, each with 30 unique scenes within them: Kitchen, Living Room, Bedroom, Bathroom.

An action is a discrete command for the agent to perform within a scene (e.g. MoveAhead, RotateRight, PickupObject).

A sim object is an object that can be interacted with by the agent. Objects have a range of interactions based on their assigned

An object is considered

1. In frame. The object appears in the camera's frame (i.e., it is within the camera's field of view). Even if an object is partially blocked by another object, as long as some of it is in the frame, that is sufficient for this condition.
2. Proximity. The object is within a distance of visibilityDistance from the agent's central vertical axis. By default, visibilityDistance is set to $1.5$ meters, but it can be overwritten upon initialization.
3. Obstruction. The object is not obstructed. Here, a ray emitted from the camera must hit the object without first hitting another object.

Each object's visibility is reported in the metadata.

An object is said to be interactable if it is both

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