iTHOR	ManipulaTHOR	RoboTHOR
A high-level interaction framework that facilitates research in embodied common sense reasoning.	A mid-level interaction framework that facilitates visual manipulation of objects using a robotic arm.	A framework that facilitates Sim2Real research with a collection of simulated scene counterparts in the physical world.

🏡 Scenes. 200+ custom built high-quality scenes. The scenes can be explored on our demo page. We are working on rapidly expanding the number of available scenes and domain randomization within each scene.

🪑 Objects. 2600+ custom designed household objects across 100+ object types. Each object is heavily annotated, which allows for near-realistic physics interaction.

🤖 Agent Types. Multi-agent support, a custom built LoCoBot agent, a Kinova 3 inspired robotic manipulation agent, and a drone agent.

🦾 Actions. 200+ actions that facilitate research in a wide range of interaction and navigation based embodied AI tasks.

🖼 Images. First-class support for many image modalities and camera adjustments. Some modalities include ego-centric RGB images, instance segmentation, semantic segmentation, depth frames, normals frames, top-down frames, orthographic projections, and third-person camera frames. User's can also easily change camera properties, such as the size of the images and field of view.

🗺 Metadata. After each step in the environment, there is a large amount of sensory data available about the state of the environment. This information can be used to build highly complex custom reward functions.

AI2-THOR Colab can be used to run AI2-THOR freely in the cloud with Google Colab. Running AI2-THOR in Google Colab makes it extremely easy to explore functionality without having to set AI2-THOR up locally.

pip install ai2thor

conda install -c conda-forge ai2thor

🐳 AI2-THOR Docker can be used, which adds the configuration for running a X server to be used by Unity 3D to render scenes.

Once you've installed AI2-THOR, you can verify that everything is working correctly by running the following minimal example:

from ai2thor.controller import Controller
controller = Controller(scene="FloorPlan10")
event = controller.step(action="RotateRight")
metadata = event.metadata
print(event, event.metadata.keys())

Questions. If you have any questions on AI2-THOR, please ask them on our GitHub Discussions Page.

Issues. If you encounter any issues while using AI2-THOR, please open an Issue on GitHub.

If you use AI2-THOR or iTHOR scenes, please cite the original AI2-THOR paper:

@article{ai2thor,
  author={Eric Kolve and Roozbeh Mottaghi and Winson Han and
          Eli VanderBilt and Luca Weihs and Alvaro Herrasti and
          Daniel Gordon and Yuke Zhu and Abhinav Gupta and
          Ali Farhadi},
  title={{AI2-THOR: An Interactive 3D Environment for Visual AI}},
  journal={arXiv},
  year={2017}
}

If you use 🏘️ ProcTHOR or procedurally generated scenes, please cite the following paper:

@inproceedings{procthor,
  author={Matt Deitke and Eli VanderBilt and Alvaro Herrasti and
          Luca Weihs and Jordi Salvador and Kiana Ehsani and
          Winson Han and Eric Kolve and Ali Farhadi and
          Aniruddha Kembhavi and Roozbeh Mottaghi},
  title={{ProcTHOR: Large-Scale Embodied AI Using Procedural Generation}},
  booktitle={NeurIPS},
  year={2022},
  note={Outstanding Paper Award}
}

If you use ManipulaTHOR agent, please cite the following paper:

@inproceedings{manipulathor,
  title={{ManipulaTHOR: A Framework for Visual Object Manipulation}},
  author={Kiana Ehsani and Winson Han and Alvaro Herrasti and
          Eli VanderBilt and Luca Weihs and Eric Kolve and
          Aniruddha Kembhavi and Roozbeh Mottaghi},
  booktitle={CVPR},
  year={2021}
}

If you use RoboTHOR scenes, please cite the following paper:

@inproceedings{robothor,
  author={Matt Deitke and Winson Han and Alvaro Herrasti and
          Aniruddha Kembhavi and Eric Kolve and Roozbeh Mottaghi and
          Jordi Salvador and Dustin Schwenk and Eli VanderBilt and
          Matthew Wallingford and Luca Weihs and Mark Yatskar and
          Ali Farhadi},
  title={{RoboTHOR: An Open Simulation-to-Real Embodied AI Platform}},
  booktitle={CVPR},
  year={2020}
}

AI2-THOR is an open-source project built by the PRIOR team at the Allen Institute for AI (AI2). AI2 is a non-profit institute with the mission to contribute to humanity through high-impact AI research and engineering.