Big News! We've announced ProcTHOR

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

Environment	Navigable	3D Scene Scans	3D Asset Library	Physics-Based Interaction	Object States	Object Specific Reactions	Dynamic Lighting	Multiple Agents	Real Counterpart

AI2-THOR	✓		✓	✓	✓	✓	✓	✓	✓
iGibson	✓	✓		✓				✓
Habitat	✓	✓		Collisions
Matterport3D	✓	✓
Minos	✓	✓

Definitions

Latest Updates

Cloud Rendering

AI2-THOR now supports headless rendering, making it easier and more accessible to use on computing clusters.

ManipulaTHOR Release

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

AI2-THOR v2.7.0 announces several massive speedups on to AI2-THOR!