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1.132-3.368.397-.406.89-.717 1.474-.952 1.399-1.136 3.392-2.093 6.122-2.093 2.731 0 4.767.957 6.166 2.093.584.235 1.077.546 1.474.952.85.869 1.132 2.037 1.132 3.368 0 .368-.014.733-.052 1.086.23.462.477 1.088.644 1.517 1.258.364 2.233 1.721 2.605 2.656a.832.832 0 0 1 .053.22v2.869a.641.641 0 0 1-.078.256ZM12.172 11h-.344a4.323 4.323 0 0 1-.355.508C10.703 12.455 9.555 13 7.965 13c-1.725 0-2.989-.359-3.782-1.259a2.005 2.005 0 0 1-.085-.104L4 11.741v6.585c1.435.779 4.514 2.179 8 2.179 3.486 0 6.565-1.4 8-2.179v-6.585l-.098-.104s-.033.045-.085.104c-.793.9-2.057 1.259-3.782 1.259-1.59 0-2.738-.545-3.508-1.492a4.323 4.323 0 0 1-.355-.508h-.016.016Zm.641-2.935c.136 1.057.403 1.913.878 2.497.442.544 1.134.938 2.344.938 1.573 0 2.292-.337 2.657-.751.384-.435.558-1.15.558-2.361 0-1.14-.243-1.847-.705-2.319-.477-.488-1.319-.862-2.824-1.025-1.487-.161-2.192.138-2.533.529-.269.307-.437.808-.438 1.578v.021c0 .265.021.562.063.893Zm-1.626 0c.042-.331.063-.628.063-.894v-.02c-.001-.77-.169-1.271-.438-1.578-.341-.391-1.046-.69-2.533-.529-1.505.163-2.347.537-2.824 1.025-.462.472-.705 1.179-.705 2.319 0 1.211.175 1.926.558 2.361.365.414 1.084.751 2.657.751 1.21 0 1.902-.394 2.344-.938.475-.584.742-1.44.878-2.497Z"></path><path d="M14.5 14.25a1 1 0 0 1 1 1v2a1 1 0 0 1-2 0v-2a1 1 0 0 1 1-1Zm-5 0a1 1 0 0 1 1 1v2a1 1 0 0 1-2 0v-2a1 1 0 0 1 1-1Z"></path> </svg> <div> <div class="color-fg-default h4">GitHub Copilot</div> Write better code with AI </div> </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description pb-lg-3" data-analytics-event="{"location":"navbar","action":"security","context":"product","tag":"link","label":"security_link_product_navbar"}" href="https://github.com/features/security"> <svg aria-hidden="true" height="24" viewBox="0 0 24 24" version="1.1" width="24" data-view-component="true" class="octicon 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0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path> </svg> </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary Link--external" target="_blank" data-analytics-event="{"location":"navbar","action":"github_skills","context":"product","tag":"link","label":"github_skills_link_product_navbar"}" href="https://skills.github.com"> GitHub Skills <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-link-external HeaderMenu-external-icon color-fg-subtle"> <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 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data-view-component="true" class="octicon octicon-link-external HeaderMenu-external-icon color-fg-subtle"> <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path> </svg> </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"executive_insights","context":"resources","tag":"link","label":"executive_insights_link_resources_navbar"}" href="https://github.com/solutions/executive-insights"> Executive Insights </a></li> </ul> </div> </div> </div> </li> <li class="HeaderMenu-item position-relative flex-wrap flex-justify-between flex-items-center d-block d-lg-flex flex-lg-nowrap flex-lg-items-center js-details-container js-header-menu-item"> <button type="button" class="HeaderMenu-link border-0 width-full width-lg-auto px-0 px-lg-2 py-lg-2 no-wrap d-flex flex-items-center flex-justify-between js-details-target" aria-expanded="false"> Open Source <svg opacity="0.5" aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-chevron-down HeaderMenu-icon ml-1"> <path d="M12.78 5.22a.749.749 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.06 0L3.22 6.28a.749.749 0 1 1 1.06-1.06L8 8.939l3.72-3.719a.749.749 0 0 1 1.06 0Z"></path> </svg> </button> <div class="HeaderMenu-dropdown dropdown-menu rounded m-0 p-0 pt-2 pt-lg-4 position-relative position-lg-absolute left-0 left-lg-n3 pb-2 pb-lg-4 px-lg-4"> <div class="HeaderMenu-column"> <div class="border-bottom pb-3 pb-lg-0 pb-lg-3 mb-3 mb-lg-0 mb-lg-3"> <ul class="list-style-none f5" > <li> <a 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6.94l3.22-3.22a.749.749 0 0 1 1.275.326.749.749 0 0 1-.215.734L9.06 8l3.22 3.22a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L8 9.06l-3.22 3.22a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042L6.94 8 3.72 4.78a.75.75 0 0 1 0-1.06Z"></path> </svg></button> </div> </div> </div> <scrollable-region data-labelled-by="custom-scopes-dialog-title"> <div data-view-component="true" class="Overlay-body"> <div data-target="custom-scopes.customScopesModalDialogFlash"></div> <div hidden class="create-custom-scope-form" data-target="custom-scopes.createCustomScopeForm"> <!-- '"` --><!-- </textarea></xmp> --></option></form><form id="custom-scopes-dialog-form" data-turbo="false" action="/search/custom_scopes" accept-charset="UTF-8" method="post"><input type="hidden" data-csrf="true" name="authenticity_token" value="MXH/vCSTOu2CDJJEfudZnJifujApVk5GX2319bn7/EabqkSBmJOByguSUYCSJN3Sn+4PJ+UxxYcUYQB/wJ3pJg==" /> <div data-target="custom-scopes.customScopesModalDialogFlash"></div> <input type="hidden" 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dir=\"auto\"\u003e\u003ch2 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003e🏡 Environments\u003c/h2\u003e\u003ca id=\"user-content--environments\" class=\"anchor\" aria-label=\"Permalink: 🏡 Environments\" href=\"#-environments\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cmarkdown-accessiblity-table\u003e\u003ctable\u003e\n \u003ctbody\u003e\u003ctr\u003e\n \u003ctd width=\"33%\"\u003e\n \u003ca target=\"_blank\" rel=\"noopener noreferrer nofollow\" href=\"https://user-images.githubusercontent.com/28768645/115940549-d0134a80-a456-11eb-8737-d89ad75a0f14.jpg\"\u003e\u003cimg src=\"https://user-images.githubusercontent.com/28768645/115940549-d0134a80-a456-11eb-8737-d89ad75a0f14.jpg\" width=\"100%\" style=\"max-width: 100%;\"\u003e\u003c/a\u003e\n \u003c/td\u003e\n \u003ctd width=\"33%\"\u003e\n \u003ca target=\"_blank\" rel=\"noopener noreferrer nofollow\" href=\"https://user-images.githubusercontent.com/28768645/115940534-c689e280-a456-11eb-985a-ca28e63715c7.jpg\"\u003e\u003cimg src=\"https://user-images.githubusercontent.com/28768645/115940534-c689e280-a456-11eb-985a-ca28e63715c7.jpg\" width=\"100%\" style=\"max-width: 100%;\"\u003e\u003c/a\u003e\n \u003c/td\u003e\n \u003ctd width=\"33%\"\u003e\n \u003ca target=\"_blank\" rel=\"noopener noreferrer nofollow\" href=\"https://user-images.githubusercontent.com/28768645/115940466-8b87af00-a456-11eb-92e5-25a9f28e7f6b.jpg\"\u003e\u003cimg src=\"https://user-images.githubusercontent.com/28768645/115940466-8b87af00-a456-11eb-92e5-25a9f28e7f6b.jpg\" width=\"100%\" style=\"max-width: 100%;\"\u003e\u003c/a\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"center\" width=\"33%\"\u003e\n \u003ccode\u003eiTHOR\u003c/code\u003e\n \u003c/td\u003e\n \u003ctd align=\"center\" width=\"33%\"\u003e\n \u003ccode\u003eManipulaTHOR\u003c/code\u003e\n \u003c/td\u003e\n \u003ctd align=\"center\" width=\"33%\"\u003e\n \u003ccode\u003eRoboTHOR\u003c/code\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd width=\"33%\"\u003e\n A high-level interaction framework that facilitates research in embodied common sense reasoning.\n \u003c/td\u003e\n \u003ctd width=\"33%\"\u003e\n A mid-level interaction framework that facilitates visual manipulation of objects using a robotic arm.\n \u003c/td\u003e\n \u003ctd width=\"33%\"\u003e\n A framework that facilitates Sim2Real research with a collection of simulated scene counterparts in the physical world.\n \u003c/td\u003e\n \u003c/tr\u003e\n\u003c/tbody\u003e\u003c/table\u003e\u003c/markdown-accessiblity-table\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch2 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003e🌍 Features\u003c/h2\u003e\u003ca id=\"user-content--features\" class=\"anchor\" aria-label=\"Permalink: 🌍 Features\" href=\"#-features\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003e\u003cstrong\u003e🏡 Scenes.\u003c/strong\u003e 200+ custom built high-quality scenes. The scenes can be explored on our \u003ca href=\"//ai2thor.allenai.org/demo\" rel=\"nofollow\"\u003edemo\u003c/a\u003e page. We are working on rapidly expanding the number of available scenes and domain randomization within each scene.\u003c/p\u003e\n\u003cp dir=\"auto\"\u003e\u003cstrong\u003e🪑 Objects.\u003c/strong\u003e 2600+ custom designed household objects across 100+ object types. Each object is heavily annotated, which allows for near-realistic physics interaction.\u003c/p\u003e\n\u003cp dir=\"auto\"\u003e\u003cstrong\u003e🤖 Agent Types.\u003c/strong\u003e Multi-agent support, a custom built LoCoBot agent, a Kinova 3 inspired robotic manipulation agent, and a drone agent.\u003c/p\u003e\n\u003cp dir=\"auto\"\u003e\u003cstrong\u003e🦾 Actions.\u003c/strong\u003e 200+ actions that facilitate research in a wide range of interaction and navigation based embodied AI tasks.\u003c/p\u003e\n\u003cp dir=\"auto\"\u003e\u003cstrong\u003e🖼 Images.\u003c/strong\u003e 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.\u003c/p\u003e\n\u003cp dir=\"auto\"\u003e\u003cstrong\u003e🗺 Metadata.\u003c/strong\u003e 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.\u003c/p\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch2 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003e📰 Latest Announcements\u003c/h2\u003e\u003ca id=\"user-content--latest-announcements\" class=\"anchor\" aria-label=\"Permalink: 📰 Latest Announcements\" href=\"#-latest-announcements\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cmarkdown-accessiblity-table\u003e\u003ctable\u003e\n \u003ctbody\u003e\u003ctr\u003e\n \u003ctd align=\"center\" width=\"80\"\u003e\n Date\n \u003c/td\u003e\n \u003ctd align=\"center\" colspan=\"2\"\u003e\n Announcement\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"center\"\u003e\n 5/2021\n \u003c/td\u003e\n \u003ctd width=\"50%\"\u003e\n \u003cdetails open=\"\" class=\"details-reset border rounded-2\"\u003e\n \u003csummary class=\"px-3 py-2\"\u003e\n \u003csvg aria-hidden=\"true\" height=\"16\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" data-view-component=\"true\" class=\"octicon octicon-device-camera-video\"\u003e\n \u003cpath d=\"M16 3.75v8.5a.75.75 0 0 1-1.136.643L11 10.575v.675A1.75 1.75 0 0 1 9.25 13h-7.5A1.75 1.75 0 0 1 0 11.25v-6.5C0 3.784.784 3 1.75 3h7.5c.966 0 1.75.784 1.75 1.75v.675l3.864-2.318A.75.75 0 0 1 16 3.75Zm-6.5 1a.25.25 0 0 0-.25-.25h-7.5a.25.25 0 0 0-.25.25v6.5c0 .138.112.25.25.25h7.5a.25.25 0 0 0 .25-.25v-6.5ZM11 8.825l3.5 2.1v-5.85l-3.5 2.1Z\"\u003e\u003c/path\u003e\n\u003c/svg\u003e\n \u003cspan aria-label=\"Video description RandomizeMaterials.mp4\" class=\"m-1\"\u003eRandomizeMaterials.mp4\u003c/span\u003e\n \u003cspan class=\"dropdown-caret\"\u003e\u003c/span\u003e\n \u003c/summary\u003e\n\n \u003cvideo src=\"https://private-user-images.githubusercontent.com/28768645/118589971-58cf8e80-b756-11eb-82ea-a94f84f57353.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDIxMzY4NDcsIm5iZiI6MTc0MjEzNjU0NywicGF0aCI6Ii8yODc2ODY0NS8xMTg1ODk5NzEtNThjZjhlODAtYjc1Ni0xMWViLTgyZWEtYTk0Zjg0ZjU3MzUzLm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTAzMTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwMzE2VDE0NDkwN1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWNjNDJkZjA3YWFmZWYwZTNlZWFlZjljYWI1NWE3YTlmMDJmM2NmZmM2YTA2ZDY5ZmU1ZGU2NWVlMzUxZWQwNjEmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.Ar0Q1wyWro33331i3OclPXjNKGOXyKiGvy_jGmKWIdg\" data-canonical-src=\"https://private-user-images.githubusercontent.com/28768645/118589971-58cf8e80-b756-11eb-82ea-a94f84f57353.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDIxMzY4NDcsIm5iZiI6MTc0MjEzNjU0NywicGF0aCI6Ii8yODc2ODY0NS8xMTg1ODk5NzEtNThjZjhlODAtYjc1Ni0xMWViLTgyZWEtYTk0Zjg0ZjU3MzUzLm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTAzMTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwMzE2VDE0NDkwN1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWNjNDJkZjA3YWFmZWYwZTNlZWFlZjljYWI1NWE3YTlmMDJmM2NmZmM2YTA2ZDY5ZmU1ZGU2NWVlMzUxZWQwNjEmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.Ar0Q1wyWro33331i3OclPXjNKGOXyKiGvy_jGmKWIdg\" controls=\"controls\" muted=\"muted\" class=\"d-block rounded-bottom-2 border-top width-fit\" style=\"max-height:640px; min-height: 200px\"\u003e\n\n \u003c/video\u003e\n\u003c/details\u003e\n\u003c/td\u003e\n \u003ctd\u003e\n \u003ccode\u003eRandomizeMaterials\u003c/code\u003e is now supported! It enables a massive amount of realistic looking domain randomization within each scene. Try it out on the \u003ca href=\"https://ai2thor.allenai.org/demo\" rel=\"nofollow\"\u003edemo\u003c/a\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"center\"\u003e\n 4/2021\n \u003c/td\u003e\n \u003ctd colspan=\"2\"\u003e\n We are excited to release \u003ca href=\"https://ai2thor.allenai.org/manipulathor/\" rel=\"nofollow\"\u003eManipulaTHOR\u003c/a\u003e, an environment within the AI2-THOR framework that facilitates visual manipulation of objects using a robotic arm. Please see the \u003ca href=\"https://github.com/allenai/ai2thor/blob/main/doc/static/ReleaseNotes/ReleaseNotes_3.0.md\"\u003efull 3.0.0 release notes here\u003c/a\u003e.\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"center\"\u003e\n 4/2021\n \u003c/td\u003e\n \u003ctd width=\"50%\"\u003e\n \u003cdetails open=\"\" class=\"details-reset border rounded-2\"\u003e\n \u003csummary class=\"px-3 py-2\"\u003e\n \u003csvg aria-hidden=\"true\" height=\"16\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" data-view-component=\"true\" class=\"octicon octicon-device-camera-video\"\u003e\n \u003cpath d=\"M16 3.75v8.5a.75.75 0 0 1-1.136.643L11 10.575v.675A1.75 1.75 0 0 1 9.25 13h-7.5A1.75 1.75 0 0 1 0 11.25v-6.5C0 3.784.784 3 1.75 3h7.5c.966 0 1.75.784 1.75 1.75v.675l3.864-2.318A.75.75 0 0 1 16 3.75Zm-6.5 1a.25.25 0 0 0-.25-.25h-7.5a.25.25 0 0 0-.25.25v6.5c0 .138.112.25.25.25h7.5a.25.25 0 0 0 .25-.25v-6.5ZM11 8.825l3.5 2.1v-5.85l-3.5 2.1Z\"\u003e\u003c/path\u003e\n\u003c/svg\u003e\n \u003cspan aria-label=\"Video description iTHOR-RandomizeLighting.mp4\" class=\"m-1\"\u003eiTHOR-RandomizeLighting.mp4\u003c/span\u003e\n \u003cspan class=\"dropdown-caret\"\u003e\u003c/span\u003e\n \u003c/summary\u003e\n\n \u003cvideo src=\"https://private-user-images.githubusercontent.com/28768645/118590040-7a307a80-b756-11eb-9b4c-c43373bea528.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDIxMzY4NDcsIm5iZiI6MTc0MjEzNjU0NywicGF0aCI6Ii8yODc2ODY0NS8xMTg1OTAwNDAtN2EzMDdhODAtYjc1Ni0xMWViLTliNGMtYzQzMzczYmVhNTI4Lm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTAzMTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwMzE2VDE0NDkwN1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTBkNjYxYzY0NzY2MWViODhmYjljZGNiOGJhYTE4ZDFiNzA1M2IwYmVhMTNkZmJmNWVmZjk1YjI1NTUyOWNhYmUmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.PuDajGqwSMGYEGBf9Fmhl_dJxZcukQlhXq7HYHnqAwQ\" data-canonical-src=\"https://private-user-images.githubusercontent.com/28768645/118590040-7a307a80-b756-11eb-9b4c-c43373bea528.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDIxMzY4NDcsIm5iZiI6MTc0MjEzNjU0NywicGF0aCI6Ii8yODc2ODY0NS8xMTg1OTAwNDAtN2EzMDdhODAtYjc1Ni0xMWViLTliNGMtYzQzMzczYmVhNTI4Lm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTAzMTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwMzE2VDE0NDkwN1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTBkNjYxYzY0NzY2MWViODhmYjljZGNiOGJhYTE4ZDFiNzA1M2IwYmVhMTNkZmJmNWVmZjk1YjI1NTUyOWNhYmUmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.PuDajGqwSMGYEGBf9Fmhl_dJxZcukQlhXq7HYHnqAwQ\" controls=\"controls\" muted=\"muted\" class=\"d-block rounded-bottom-2 border-top width-fit\" style=\"max-height:640px; min-height: 200px\"\u003e\n\n \u003c/video\u003e\n\u003c/details\u003e\n\n \u003cdetails open=\"\" class=\"details-reset border rounded-2\"\u003e\n \u003csummary class=\"px-3 py-2\"\u003e\n \u003csvg aria-hidden=\"true\" height=\"16\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" data-view-component=\"true\" class=\"octicon octicon-device-camera-video\"\u003e\n \u003cpath d=\"M16 3.75v8.5a.75.75 0 0 1-1.136.643L11 10.575v.675A1.75 1.75 0 0 1 9.25 13h-7.5A1.75 1.75 0 0 1 0 11.25v-6.5C0 3.784.784 3 1.75 3h7.5c.966 0 1.75.784 1.75 1.75v.675l3.864-2.318A.75.75 0 0 1 16 3.75Zm-6.5 1a.25.25 0 0 0-.25-.25h-7.5a.25.25 0 0 0-.25.25v6.5c0 .138.112.25.25.25h7.5a.25.25 0 0 0 .25-.25v-6.5ZM11 8.825l3.5 2.1v-5.85l-3.5 2.1Z\"\u003e\u003c/path\u003e\n\u003c/svg\u003e\n \u003cspan aria-label=\"Video description RoboTHOR-RandomizeLighting.mp4\" class=\"m-1\"\u003eRoboTHOR-RandomizeLighting.mp4\u003c/span\u003e\n \u003cspan class=\"dropdown-caret\"\u003e\u003c/span\u003e\n \u003c/summary\u003e\n\n \u003cvideo src=\"https://private-user-images.githubusercontent.com/28768645/118589727-d1821b00-b755-11eb-9dff-9eda97fe0998.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDIxMzY4NDcsIm5iZiI6MTc0MjEzNjU0NywicGF0aCI6Ii8yODc2ODY0NS8xMTg1ODk3MjctZDE4MjFiMDAtYjc1NS0xMWViLTlkZmYtOWVkYTk3ZmUwOTk4Lm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTAzMTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwMzE2VDE0NDkwN1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWUyMzM4ZTRmNzE3YjZmN2FkYTY5NmE1NjFhZTlmNGVjNjgwNzcxZmI2M2ZjNDM2YThiYzIxNGM3ZDRkOTllZDcmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.-rPs-xamxDTgGExd-PJX4WI4CI9zgnUskjGN6bsdiCw\" data-canonical-src=\"https://private-user-images.githubusercontent.com/28768645/118589727-d1821b00-b755-11eb-9dff-9eda97fe0998.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDIxMzY4NDcsIm5iZiI6MTc0MjEzNjU0NywicGF0aCI6Ii8yODc2ODY0NS8xMTg1ODk3MjctZDE4MjFiMDAtYjc1NS0xMWViLTlkZmYtOWVkYTk3ZmUwOTk4Lm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTAzMTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwMzE2VDE0NDkwN1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWUyMzM4ZTRmNzE3YjZmN2FkYTY5NmE1NjFhZTlmNGVjNjgwNzcxZmI2M2ZjNDM2YThiYzIxNGM3ZDRkOTllZDcmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.-rPs-xamxDTgGExd-PJX4WI4CI9zgnUskjGN6bsdiCw\" controls=\"controls\" muted=\"muted\" class=\"d-block rounded-bottom-2 border-top width-fit\" style=\"max-height:640px; min-height: 200px\"\u003e\n\n \u003c/video\u003e\n\u003c/details\u003e\n\n \u003c/td\u003e\n \u003ctd\u003e\n \u003ccode\u003eRandomizeLighting\u003c/code\u003e is now supported! It includes many tunable parameters to allow for vast control over its effects. Try it out on the \u003ca href=\"https://ai2thor.allenai.org\" rel=\"nofollow\"\u003edemo\u003c/a\u003e!\u003cbr\u003e\u003cbr\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"center\"\u003e\n 2/2021\n \u003c/td\u003e\n \u003ctd colspan=\"2\"\u003e\n We are excited to host the \u003ca href=\"https://ai2thor.allenai.org/rearrangement/\" rel=\"nofollow\"\u003eAI2-THOR Rearrangement Challenge\u003c/a\u003e, \u003ca href=\"https://ai2thor.allenai.org/robothor/cvpr-2021-challenge/\" rel=\"nofollow\"\u003eRoboTHOR ObjectNav Challenge\u003c/a\u003e, and \u003ca href=\"https://askforalfred.com/EAI21/\" rel=\"nofollow\"\u003eALFRED Challenge\u003c/a\u003e, held in conjunction with the \u003ca href=\"https://embodied-ai.org/\" rel=\"nofollow\"\u003eEmbodied AI Workshop\u003c/a\u003e at CVPR 2021.\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"center\"\u003e\n 2/2021\n \u003c/td\u003e\n \u003ctd colspan=\"2\"\u003e\n AI2-THOR v2.7.0 announces several massive speedups to AI2-THOR! Read more about it \u003ca href=\"https://medium.com/ai2-blog/speed-up-your-training-with-ai2-thor-2-7-0-12a650b6ab5e\" rel=\"nofollow\"\u003ehere\u003c/a\u003e.\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"center\"\u003e\n 6/2020\n \u003c/td\u003e\n \u003ctd colspan=\"2\"\u003e\n We've released \u003ca href=\"https://github.com/allenai/ai2thor-docker\"\u003e🐳 AI2-THOR Docker\u003c/a\u003e a mini-framework to simplify running AI2-THOR in Docker.\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"center\"\u003e\n 4/2020\n \u003c/td\u003e\n \u003ctd colspan=\"2\"\u003e\n Version 2.4.0 update of the framework is here. All sim objects that aren't explicitly part of the environmental structure are now moveable with physics interactions. New object types have been added, and many new actions have been added. Please see the \u003ca href=\"https://github.com/allenai/ai2thor/blob/main/doc/static/ReleaseNotes/ReleaseNotes_2.4.md\"\u003efull 2.4.0 release notes here\u003c/a\u003e.\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"center\"\u003e\n 2/2020\n \u003c/td\u003e\n \u003ctd colspan=\"2\"\u003e\n AI2-THOR now includes two frameworks: \u003ca href=\"https://ai2thor.allenai.org/ithor/\" rel=\"nofollow\"\u003eiTHOR\u003c/a\u003e and \u003ca href=\"https://ai2thor.allenai.org/robothor/\" rel=\"nofollow\"\u003eRoboTHOR\u003c/a\u003e. iTHOR includes interactive objects and scenes and RoboTHOR consists of simulated scenes and their corresponding real world counterparts.\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"center\"\u003e\n 9/2019\n \u003c/td\u003e\n \u003ctd colspan=\"2\"\u003e\n Version 2.1.0 update of the framework has been added. New object types have been added. New Initialization actions have been added. Segmentation image generation has been improved in all scenes.\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"center\"\u003e\n 6/2019\n \u003c/td\u003e\n \u003ctd colspan=\"2\"\u003e\n Version 2.0 update of the AI2-THOR framework is now live! We have over quadrupled our action and object states, adding new actions that allow visually distinct state changes such as broken screens on electronics, shattered windows, breakable dishware, liquid fillable containers, cleanable dishware, messy and made beds and more! Along with these new state changes, objects have more physical properties like Temperature, Mass, and Salient Materials that are all reported back in object metadata. To combine all of these new properties and actions, new context sensitive interactions can now automatically change object states. This includes interactions like placing a dirty bowl under running sink water to clean it, placing a mug in a coffee machine to automatically fill it with coffee, putting out a lit candle by placing it in water, or placing an object over an active stove burner or in the fridge to change its temperature. Please see the \u003ca href=\"https://github.com/allenai/ai2thor/blob/main/doc/static/ReleaseNotes/ReleaseNotes_2.0.md\"\u003efull 2.0 release notes here\u003c/a\u003e to view details on all the changes and new features.\n \u003c/td\u003e\n \u003c/tr\u003e\n\u003c/tbody\u003e\u003c/table\u003e\u003c/markdown-accessiblity-table\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch2 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003e💻 Installation\u003c/h2\u003e\u003ca id=\"user-content--installation\" class=\"anchor\" aria-label=\"Permalink: 💻 Installation\" href=\"#-installation\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eWith Google Colab\u003c/h3\u003e\u003ca id=\"user-content-with-google-colab\" class=\"anchor\" aria-label=\"Permalink: With Google Colab\" href=\"#with-google-colab\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003e\u003ca href=\"https://github.com/allenai/ai2thor-colab\"\u003eAI2-THOR Colab\u003c/a\u003e 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.\u003c/p\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eWith pip\u003c/h3\u003e\u003ca id=\"user-content-with-pip\" class=\"anchor\" aria-label=\"Permalink: With pip\" href=\"#with-pip\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cdiv class=\"highlight highlight-source-shell notranslate position-relative overflow-auto\" dir=\"auto\" data-snippet-clipboard-copy-content=\"pip install ai2thor\"\u003e\u003cpre\u003epip install ai2thor\u003c/pre\u003e\u003c/div\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eWith conda\u003c/h3\u003e\u003ca id=\"user-content-with-conda\" class=\"anchor\" aria-label=\"Permalink: With conda\" href=\"#with-conda\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cdiv class=\"highlight highlight-source-shell notranslate position-relative overflow-auto\" dir=\"auto\" data-snippet-clipboard-copy-content=\"conda install -c conda-forge ai2thor\"\u003e\u003cpre\u003econda install -c conda-forge ai2thor\u003c/pre\u003e\u003c/div\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eWith Docker\u003c/h3\u003e\u003ca id=\"user-content-with-docker\" class=\"anchor\" aria-label=\"Permalink: With Docker\" href=\"#with-docker\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003e\u003ca href=\"https://github.com/allenai/ai2thor-docker\"\u003e🐳 AI2-THOR Docker\u003c/a\u003e can be used, which adds the configuration for running a X server to be used by Unity 3D to render scenes.\u003c/p\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eMinimal Example\u003c/h3\u003e\u003ca id=\"user-content-minimal-example\" class=\"anchor\" aria-label=\"Permalink: Minimal Example\" href=\"#minimal-example\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003eOnce you've installed AI2-THOR, you can verify that everything is working correctly by running the following minimal example:\u003c/p\u003e\n\u003cdiv class=\"highlight highlight-source-python notranslate position-relative overflow-auto\" dir=\"auto\" data-snippet-clipboard-copy-content=\"from ai2thor.controller import Controller\ncontroller = Controller(scene=\u0026quot;FloorPlan10\u0026quot;)\nevent = controller.step(action=\u0026quot;RotateRight\u0026quot;)\nmetadata = event.metadata\nprint(event, event.metadata.keys())\"\u003e\u003cpre\u003e\u003cspan class=\"pl-k\"\u003efrom\u003c/span\u003e \u003cspan class=\"pl-s1\"\u003eai2thor\u003c/span\u003e.\u003cspan class=\"pl-s1\"\u003econtroller\u003c/span\u003e \u003cspan class=\"pl-k\"\u003eimport\u003c/span\u003e \u003cspan class=\"pl-v\"\u003eController\u003c/span\u003e\n\u003cspan class=\"pl-s1\"\u003econtroller\u003c/span\u003e \u003cspan class=\"pl-c1\"\u003e=\u003c/span\u003e \u003cspan class=\"pl-en\"\u003eController\u003c/span\u003e(\u003cspan class=\"pl-s1\"\u003escene\u003c/span\u003e\u003cspan class=\"pl-c1\"\u003e=\u003c/span\u003e\u003cspan class=\"pl-s\"\u003e\"FloorPlan10\"\u003c/span\u003e)\n\u003cspan class=\"pl-s1\"\u003eevent\u003c/span\u003e \u003cspan class=\"pl-c1\"\u003e=\u003c/span\u003e \u003cspan class=\"pl-s1\"\u003econtroller\u003c/span\u003e.\u003cspan class=\"pl-c1\"\u003estep\u003c/span\u003e(\u003cspan class=\"pl-s1\"\u003eaction\u003c/span\u003e\u003cspan class=\"pl-c1\"\u003e=\u003c/span\u003e\u003cspan class=\"pl-s\"\u003e\"RotateRight\"\u003c/span\u003e)\n\u003cspan class=\"pl-s1\"\u003emetadata\u003c/span\u003e \u003cspan class=\"pl-c1\"\u003e=\u003c/span\u003e \u003cspan class=\"pl-s1\"\u003eevent\u003c/span\u003e.\u003cspan class=\"pl-c1\"\u003emetadata\u003c/span\u003e\n\u003cspan class=\"pl-en\"\u003eprint\u003c/span\u003e(\u003cspan class=\"pl-s1\"\u003eevent\u003c/span\u003e, \u003cspan class=\"pl-s1\"\u003eevent\u003c/span\u003e.\u003cspan class=\"pl-c1\"\u003emetadata\u003c/span\u003e.\u003cspan class=\"pl-c1\"\u003ekeys\u003c/span\u003e())\u003c/pre\u003e\u003c/div\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eRequirements\u003c/h3\u003e\u003ca id=\"user-content-requirements\" class=\"anchor\" aria-label=\"Permalink: Requirements\" href=\"#requirements\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cmarkdown-accessiblity-table\u003e\u003ctable\u003e\n\u003cthead\u003e\n\u003ctr\u003e\n\u003cth align=\"left\"\u003eComponent\u003c/th\u003e\n\u003cth align=\"left\"\u003eRequirement\u003c/th\u003e\n\u003c/tr\u003e\n\u003c/thead\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003ctd align=\"left\"\u003eOS\u003c/td\u003e\n\u003ctd align=\"left\"\u003eMac OS X 10.9+, Ubuntu 14.04+\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd align=\"left\"\u003eGraphics Card\u003c/td\u003e\n\u003ctd align=\"left\"\u003eDX9 (shader model 3.0) or DX11 with feature level 9.3 capabilities.\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd align=\"left\"\u003eCPU\u003c/td\u003e\n\u003ctd align=\"left\"\u003eSSE2 instruction set support.\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd align=\"left\"\u003ePython\u003c/td\u003e\n\u003ctd align=\"left\"\u003eVersions 3.5+\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd align=\"left\"\u003eLinux\u003c/td\u003e\n\u003ctd align=\"left\"\u003eX server with GLX module enabled\u003c/td\u003e\n\u003c/tr\u003e\n\u003c/tbody\u003e\n\u003c/table\u003e\u003c/markdown-accessiblity-table\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch2 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003e💬 Support\u003c/h2\u003e\u003ca id=\"user-content--support\" class=\"anchor\" aria-label=\"Permalink: 💬 Support\" href=\"#-support\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003e\u003cstrong\u003eQuestions.\u003c/strong\u003e If you have any questions on AI2-THOR, please ask them on our \u003ca href=\"https://github.com/allenai/ai2thor/discussions\"\u003eGitHub Discussions Page\u003c/a\u003e.\u003c/p\u003e\n\u003cp dir=\"auto\"\u003e\u003cstrong\u003eIssues.\u003c/strong\u003e If you encounter any issues while using AI2-THOR, please open an \u003ca href=\"https://github.com/allenai/ai2thor/issues\"\u003eIssue on GitHub\u003c/a\u003e.\u003c/p\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch2 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003e🏫 Learn more\u003c/h2\u003e\u003ca id=\"user-content--learn-more\" class=\"anchor\" aria-label=\"Permalink: 🏫 Learn more\" href=\"#-learn-more\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cmarkdown-accessiblity-table\u003e\u003ctable\u003e\n\u003cthead\u003e\n\u003ctr\u003e\n\u003cth align=\"left\"\u003eSection\u003c/th\u003e\n\u003cth align=\"left\"\u003eDescription\u003c/th\u003e\n\u003c/tr\u003e\n\u003c/thead\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003ctd align=\"left\"\u003e\u003ca href=\"https://ai2thor.allenai.org/demo/\" rel=\"nofollow\"\u003eDemo\u003c/a\u003e\u003c/td\u003e\n\u003ctd align=\"left\"\u003eInteract and play with AI2-THOR live in the browser.\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd align=\"left\"\u003e\u003ca href=\"https://ai2thor.allenai.org/ithor/documentation/\" rel=\"nofollow\"\u003eiTHOR Documentation\u003c/a\u003e\u003c/td\u003e\n\u003ctd align=\"left\"\u003eDocumentation for the iTHOR environment.\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd align=\"left\"\u003e\u003ca href=\"https://ai2thor.allenai.org/manipulathor/documentation/\" rel=\"nofollow\"\u003eManipulaTHOR Documentation\u003c/a\u003e\u003c/td\u003e\n\u003ctd align=\"left\"\u003eDocumentation for the ManipulaTHOR environment.\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd align=\"left\"\u003e\u003ca href=\"https://ai2thor.allenai.org/robothor/documentation/\" rel=\"nofollow\"\u003eRoboTHOR Documentation\u003c/a\u003e\u003c/td\u003e\n\u003ctd align=\"left\"\u003eDocumentation for the RoboTHOR environment.\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd align=\"left\"\u003e\u003ca href=\"https://github.com/allenai/ai2thor-colab\"\u003eAI2-THOR Colab\u003c/a\u003e\u003c/td\u003e\n\u003ctd align=\"left\"\u003eA way to run AI2-THOR freely on the cloud using Google Colab.\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd align=\"left\"\u003e\u003ca href=\"https://allenact.org/\" rel=\"nofollow\"\u003eAllenAct\u003c/a\u003e\u003c/td\u003e\n\u003ctd align=\"left\"\u003eAn Embodied AI Framework build at AI2 that provides first-class support for AI2-THOR.\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd align=\"left\"\u003e\u003ca href=\"https://github.com/allenai/ai2thor/tree/main/unity#readme\"\u003eAI2-THOR Unity Development\u003c/a\u003e\u003c/td\u003e\n\u003ctd align=\"left\"\u003eA (sparse) collection of notes that may be useful if editing on the AI2-THOR backend.\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd align=\"left\"\u003e\u003ca href=\"https://github.com/allenai/ai2thor/blob/main/WEBGL.md\"\u003eAI2-THOR WebGL Development\u003c/a\u003e\u003c/td\u003e\n\u003ctd align=\"left\"\u003eDocumentation on packaging AI2-THOR for the web, which might be useful for annotation based tasks.\u003c/td\u003e\n\u003c/tr\u003e\n\u003c/tbody\u003e\n\u003c/table\u003e\u003c/markdown-accessiblity-table\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch2 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003e📒 Citation\u003c/h2\u003e\u003ca id=\"user-content--citation\" class=\"anchor\" aria-label=\"Permalink: 📒 Citation\" href=\"#-citation\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003eIf you use AI2-THOR or iTHOR scenes, please cite the original AI2-THOR paper:\u003c/p\u003e\n\u003cdiv class=\"highlight highlight-text-bibtex notranslate position-relative overflow-auto\" dir=\"auto\" data-snippet-clipboard-copy-content=\"@article{ai2thor,\n author={Eric Kolve and Roozbeh Mottaghi and Winson Han and\n Eli VanderBilt and Luca Weihs and Alvaro Herrasti and\n Daniel Gordon and Yuke Zhu and Abhinav Gupta and\n Ali Farhadi},\n title={{AI2-THOR: An Interactive 3D Environment for Visual AI}},\n journal={arXiv},\n year={2017}\n}\"\u003e\u003cpre\u003e\u003cspan class=\"pl-k\"\u003e@article\u003c/span\u003e{\u003cspan class=\"pl-en\"\u003eai2thor\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003eauthor\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003eEric Kolve and Roozbeh Mottaghi and Winson Han and\u003c/span\u003e\n\u003cspan class=\"pl-s\"\u003e Eli VanderBilt and Luca Weihs and Alvaro Herrasti and\u003c/span\u003e\n\u003cspan class=\"pl-s\"\u003e Daniel Gordon and Yuke Zhu and Abhinav Gupta and\u003c/span\u003e\n\u003cspan class=\"pl-s\"\u003e Ali Farhadi\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003etitle\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003e{AI2-THOR: An Interactive 3D Environment for Visual AI}\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003ejournal\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003earXiv\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003eyear\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003e2017\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e\n}\u003c/pre\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003eIf you use 🏘️ ProcTHOR or procedurally generated scenes, please cite the following paper:\u003c/p\u003e\n\u003cdiv class=\"highlight highlight-text-bibtex notranslate position-relative overflow-auto\" dir=\"auto\" data-snippet-clipboard-copy-content=\"@inproceedings{procthor,\n author={Matt Deitke and Eli VanderBilt and Alvaro Herrasti and\n Luca Weihs and Jordi Salvador and Kiana Ehsani and\n Winson Han and Eric Kolve and Ali Farhadi and\n Aniruddha Kembhavi and Roozbeh Mottaghi},\n title={{ProcTHOR: Large-Scale Embodied AI Using Procedural Generation}},\n booktitle={NeurIPS},\n year={2022},\n note={Outstanding Paper Award}\n}\"\u003e\u003cpre\u003e\u003cspan class=\"pl-k\"\u003e@inproceedings\u003c/span\u003e{\u003cspan class=\"pl-en\"\u003eprocthor\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003eauthor\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003eMatt Deitke and Eli VanderBilt and Alvaro Herrasti and\u003c/span\u003e\n\u003cspan class=\"pl-s\"\u003e Luca Weihs and Jordi Salvador and Kiana Ehsani and\u003c/span\u003e\n\u003cspan class=\"pl-s\"\u003e Winson Han and Eric Kolve and Ali Farhadi and\u003c/span\u003e\n\u003cspan class=\"pl-s\"\u003e Aniruddha Kembhavi and Roozbeh Mottaghi\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003etitle\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003e{ProcTHOR: Large-Scale Embodied AI Using Procedural Generation}\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003ebooktitle\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003eNeurIPS\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003eyear\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003e2022\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003enote\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003eOutstanding Paper Award\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e\n}\u003c/pre\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003eIf you use ManipulaTHOR agent, please cite the following paper:\u003c/p\u003e\n\u003cdiv class=\"highlight highlight-text-bibtex notranslate position-relative overflow-auto\" dir=\"auto\" data-snippet-clipboard-copy-content=\"@inproceedings{manipulathor,\n title={{ManipulaTHOR: A Framework for Visual Object Manipulation}},\n author={Kiana Ehsani and Winson Han and Alvaro Herrasti and\n Eli VanderBilt and Luca Weihs and Eric Kolve and\n Aniruddha Kembhavi and Roozbeh Mottaghi},\n booktitle={CVPR},\n year={2021}\n}\"\u003e\u003cpre\u003e\u003cspan class=\"pl-k\"\u003e@inproceedings\u003c/span\u003e{\u003cspan class=\"pl-en\"\u003emanipulathor\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003etitle\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003e{ManipulaTHOR: A Framework for Visual Object Manipulation}\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003eauthor\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003eKiana Ehsani and Winson Han and Alvaro Herrasti and\u003c/span\u003e\n\u003cspan class=\"pl-s\"\u003e Eli VanderBilt and Luca Weihs and Eric Kolve and\u003c/span\u003e\n\u003cspan class=\"pl-s\"\u003e Aniruddha Kembhavi and Roozbeh Mottaghi\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003ebooktitle\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003eCVPR\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003eyear\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003e2021\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e\n}\u003c/pre\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003eIf you use RoboTHOR scenes, please cite the following paper:\u003c/p\u003e\n\u003cdiv class=\"highlight highlight-text-bibtex notranslate position-relative overflow-auto\" dir=\"auto\" data-snippet-clipboard-copy-content=\"@inproceedings{robothor,\n author={Matt Deitke and Winson Han and Alvaro Herrasti and\n Aniruddha Kembhavi and Eric Kolve and Roozbeh Mottaghi and\n Jordi Salvador and Dustin Schwenk and Eli VanderBilt and\n Matthew Wallingford and Luca Weihs and Mark Yatskar and\n Ali Farhadi},\n title={{RoboTHOR: An Open Simulation-to-Real Embodied AI Platform}},\n booktitle={CVPR},\n year={2020}\n}\"\u003e\u003cpre\u003e\u003cspan class=\"pl-k\"\u003e@inproceedings\u003c/span\u003e{\u003cspan class=\"pl-en\"\u003erobothor\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003eauthor\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003eMatt Deitke and Winson Han and Alvaro Herrasti and\u003c/span\u003e\n\u003cspan class=\"pl-s\"\u003e Aniruddha Kembhavi and Eric Kolve and Roozbeh Mottaghi and\u003c/span\u003e\n\u003cspan class=\"pl-s\"\u003e Jordi Salvador and Dustin Schwenk and Eli VanderBilt and\u003c/span\u003e\n\u003cspan class=\"pl-s\"\u003e Matthew Wallingford and Luca Weihs and Mark Yatskar and\u003c/span\u003e\n\u003cspan class=\"pl-s\"\u003e Ali Farhadi\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003etitle\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003e{RoboTHOR: An Open Simulation-to-Real Embodied AI Platform}\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003ebooktitle\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003eCVPR\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003eyear\u003c/span\u003e=\u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003e2020\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e\n}\u003c/pre\u003e\u003c/div\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch2 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003e👋 Our Team\u003c/h2\u003e\u003ca id=\"user-content--our-team\" class=\"anchor\" aria-label=\"Permalink: 👋 Our Team\" href=\"#-our-team\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003eAI2-THOR is an open-source project built by the \u003ca href=\"//prior.allenai.org\" rel=\"nofollow\"\u003ePRIOR team\u003c/a\u003e at the \u003ca href=\"//allenai.org\" rel=\"nofollow\"\u003eAllen Institute for AI\u003c/a\u003e (AI2).\nAI2 is a non-profit institute with the mission to contribute to humanity through high-impact AI research and engineering.\u003c/p\u003e\n\u003cbr\u003e\n\u003ca href=\"//prior.allenai.org\" rel=\"nofollow\"\u003e\n\u003cp align=\"center\" dir=\"auto\"\u003e\u003cimg width=\"100%\" src=\"https://raw.githubusercontent.com/allenai/ai2thor/main/doc/static/ai2-prior.svg\" style=\"max-width: 100%;\"\u003e\u003c/p\u003e\n\u003c/a\u003e\n\u003c/article\u003e","loaded":true,"timedOut":false,"errorMessage":null,"headerInfo":{"toc":[{"level":3,"text":"A Near Photo-Realistic Interactable Framework for Embodied AI Agents","anchor":"a-near-photo-realistic-interactable-framework-for-embodied-ai-agents","htmlText":"A Near Photo-Realistic Interactable Framework for Embodied AI Agents"},{"level":2,"text":"🏡 Environments","anchor":"-environments","htmlText":"🏡 Environments"},{"level":2,"text":"🌍 Features","anchor":"-features","htmlText":"🌍 Features"},{"level":2,"text":"📰 Latest Announcements","anchor":"-latest-announcements","htmlText":"📰 Latest Announcements"},{"level":2,"text":"💻 Installation","anchor":"-installation","htmlText":"💻 Installation"},{"level":3,"text":"With Google Colab","anchor":"with-google-colab","htmlText":"With Google Colab"},{"level":3,"text":"With pip","anchor":"with-pip","htmlText":"With pip"},{"level":3,"text":"With conda","anchor":"with-conda","htmlText":"With conda"},{"level":3,"text":"With Docker","anchor":"with-docker","htmlText":"With Docker"},{"level":3,"text":"Minimal Example","anchor":"minimal-example","htmlText":"Minimal Example"},{"level":3,"text":"Requirements","anchor":"requirements","htmlText":"Requirements"},{"level":2,"text":"💬 Support","anchor":"-support","htmlText":"💬 Support"},{"level":2,"text":"🏫 Learn more","anchor":"-learn-more","htmlText":"🏫 Learn more"},{"level":2,"text":"📒 Citation","anchor":"-citation","htmlText":"📒 Citation"},{"level":2,"text":"👋 Our Team","anchor":"-our-team","htmlText":"👋 Our Team"}],"siteNavLoginPath":"/login?return_to=https%3A%2F%2Fgithub.com%2Fallenai%2Fai2thor"}},{"displayName":"LICENSE","repoName":"ai2thor","refName":"main","path":"LICENSE","preferredFileType":"license","tabName":"Apache-2.0","richText":null,"loaded":false,"timedOut":false,"errorMessage":null,"headerInfo":{"toc":null,"siteNavLoginPath":"/login?return_to=https%3A%2F%2Fgithub.com%2Fallenai%2Fai2thor"}}],"overviewFilesProcessingTime":0}},"appPayload":{"helpUrl":"https://docs.github.com","findFileWorkerPath":"/assets-cdn/worker/find-file-worker-7d7eb7c71814.js","findInFileWorkerPath":"/assets-cdn/worker/find-in-file-worker-96e76d5fdb2c.js","githubDevUrl":null,"enabled_features":{"copilot_workspace":null,"code_nav_ui_events":false,"overview_shared_code_dropdown_button":false,"react_blob_overlay":false,"copilot_smell_icebreaker_ux":true,"accessible_code_button":true,"github_models_repo_tab":false}}}}</script> <div data-target="react-partial.reactRoot"><style data-styled="true" 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itemprop="text"><p align="center" dir="auto"><a target="_blank" rel="noopener noreferrer nofollow" href="https://raw.githubusercontent.com/allenai/ai2thor/main/doc/static/Ai2-THOR.svg"><img width="50%" src="https://raw.githubusercontent.com/allenai/ai2thor/main/doc/static/Ai2-THOR.svg" style="max-width: 100%;"></a></p> <div class="markdown-heading" dir="auto"><h3 align="center" tabindex="-1" class="heading-element" dir="auto"><i>A Near Photo-Realistic Interactable Framework for Embodied AI Agents</i></h3><a id="user-content-a-near-photo-realistic-interactable-framework-for-embodied-ai-agents" class="anchor" aria-label="Permalink: A Near Photo-Realistic Interactable Framework for Embodied AI Agents" href="#a-near-photo-realistic-interactable-framework-for-embodied-ai-agents"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 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src="https://camo.githubusercontent.com/70de2796b09e44740a873cb956110e3ddf2a8a3ace6ad64edc84ffe87a778826/68747470733a2f2f696d672e736869656c64732e696f2f6769746875622f6c6963656e73652f616c6c656e61692f61693274686f722e7376673f636f6c6f723d626c7565" data-canonical-src="https://img.shields.io/github/license/allenai/ai2thor.svg?color=blue" style="max-width: 100%;"> </a> <a href="//arxiv.org/abs/1712.05474" rel="nofollow"> <img src="https://camo.githubusercontent.com/21ba9034399fcb71eb89039d33bdb91bb97da335080743e85582c458b9829288/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f61725869762d313731322e30353437342d3c434f4c4f523e" data-canonical-src="https://img.shields.io/badge/arXiv-1712.05474-<COLOR>" style="max-width: 100%;"> </a> <a href="//www.youtube.com/watch?v=KcELPpdN770" rel="nofollow"> <img src="https://camo.githubusercontent.com/f9695dc70493170e64082b9f758771682da0665b766b07b6a951a65eaa1e1ed6/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f766964656f2d596f75547562652d726564" data-canonical-src="https://img.shields.io/badge/video-YouTube-red" style="max-width: 100%;"> </a> <a href="//pepy.tech/project/ai2thor" rel="nofollow"> <img alt="Downloads" src="https://camo.githubusercontent.com/fd7aeb4171a252816089faece692cac0bf4db235d23abc4bc7a121d401ea2e2f/68747470733a2f2f706570792e746563682f62616467652f61693274686f72" data-canonical-src="https://pepy.tech/badge/ai2thor" style="max-width: 100%;"> </a> </p> <div class="markdown-heading" dir="auto"><h2 tabindex="-1" class="heading-element" dir="auto">🏡 Environments</h2><a id="user-content--environments" class="anchor" aria-label="Permalink: 🏡 Environments" href="#-environments"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <markdown-accessiblity-table><table> <tbody><tr> <td width="33%"> <a target="_blank" rel="noopener noreferrer nofollow" href="https://user-images.githubusercontent.com/28768645/115940549-d0134a80-a456-11eb-8737-d89ad75a0f14.jpg"><img src="https://user-images.githubusercontent.com/28768645/115940549-d0134a80-a456-11eb-8737-d89ad75a0f14.jpg" width="100%" style="max-width: 100%;"></a> </td> <td width="33%"> <a target="_blank" rel="noopener noreferrer nofollow" href="https://user-images.githubusercontent.com/28768645/115940534-c689e280-a456-11eb-985a-ca28e63715c7.jpg"><img src="https://user-images.githubusercontent.com/28768645/115940534-c689e280-a456-11eb-985a-ca28e63715c7.jpg" width="100%" style="max-width: 100%;"></a> </td> <td width="33%"> <a target="_blank" rel="noopener noreferrer nofollow" href="https://user-images.githubusercontent.com/28768645/115940466-8b87af00-a456-11eb-92e5-25a9f28e7f6b.jpg"><img src="https://user-images.githubusercontent.com/28768645/115940466-8b87af00-a456-11eb-92e5-25a9f28e7f6b.jpg" width="100%" style="max-width: 100%;"></a> </td> </tr> <tr> <td align="center" width="33%"> <code>iTHOR</code> </td> <td align="center" width="33%"> <code>ManipulaTHOR</code> </td> <td align="center" width="33%"> <code>RoboTHOR</code> </td> </tr> <tr> <td width="33%"> A high-level interaction framework that facilitates research in embodied common sense reasoning. </td> <td width="33%"> A mid-level interaction framework that facilitates visual manipulation of objects using a robotic arm. </td> <td width="33%"> A framework that facilitates Sim2Real research with a collection of simulated scene counterparts in the physical world. </td> </tr> </tbody></table></markdown-accessiblity-table> <div class="markdown-heading" dir="auto"><h2 tabindex="-1" class="heading-element" dir="auto">🌍 Features</h2><a id="user-content--features" class="anchor" aria-label="Permalink: 🌍 Features" href="#-features"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <p dir="auto"><strong>🏡 Scenes.</strong> 200+ custom built high-quality scenes. The scenes can be explored on our <a href="//ai2thor.allenai.org/demo" rel="nofollow">demo</a> page. We are working on rapidly expanding the number of available scenes and domain randomization within each scene.</p> <p dir="auto"><strong>🪑 Objects.</strong> 2600+ custom designed household objects across 100+ object types. Each object is heavily annotated, which allows for near-realistic physics interaction.</p> <p dir="auto"><strong>🤖 Agent Types.</strong> Multi-agent support, a custom built LoCoBot agent, a Kinova 3 inspired robotic manipulation agent, and a drone agent.</p> <p dir="auto"><strong>🦾 Actions.</strong> 200+ actions that facilitate research in a wide range of interaction and navigation based embodied AI tasks.</p> <p dir="auto"><strong>🖼 Images.</strong> 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.</p> <p dir="auto"><strong>🗺 Metadata.</strong> 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.</p> <div class="markdown-heading" dir="auto"><h2 tabindex="-1" class="heading-element" dir="auto">📰 Latest Announcements</h2><a id="user-content--latest-announcements" class="anchor" aria-label="Permalink: 📰 Latest Announcements" href="#-latest-announcements"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <markdown-accessiblity-table><table> <tbody><tr> <td align="center" width="80"> Date </td> <td align="center" colspan="2"> Announcement </td> </tr> <tr> <td align="center"> 5/2021 </td> <td width="50%"> <details open="" class="details-reset border rounded-2"> <summary class="px-3 py-2"> <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-device-camera-video"> <path d="M16 3.75v8.5a.75.75 0 0 1-1.136.643L11 10.575v.675A1.75 1.75 0 0 1 9.25 13h-7.5A1.75 1.75 0 0 1 0 11.25v-6.5C0 3.784.784 3 1.75 3h7.5c.966 0 1.75.784 1.75 1.75v.675l3.864-2.318A.75.75 0 0 1 16 3.75Zm-6.5 1a.25.25 0 0 0-.25-.25h-7.5a.25.25 0 0 0-.25.25v6.5c0 .138.112.25.25.25h7.5a.25.25 0 0 0 .25-.25v-6.5ZM11 8.825l3.5 2.1v-5.85l-3.5 2.1Z"></path> </svg> <span aria-label="Video description RandomizeMaterials.mp4" class="m-1">RandomizeMaterials.mp4</span> <span class="dropdown-caret"></span> </summary> <video src="https://private-user-images.githubusercontent.com/28768645/118589971-58cf8e80-b756-11eb-82ea-a94f84f57353.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDIxMzY4NDcsIm5iZiI6MTc0MjEzNjU0NywicGF0aCI6Ii8yODc2ODY0NS8xMTg1ODk5NzEtNThjZjhlODAtYjc1Ni0xMWViLTgyZWEtYTk0Zjg0ZjU3MzUzLm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTAzMTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwMzE2VDE0NDkwN1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWNjNDJkZjA3YWFmZWYwZTNlZWFlZjljYWI1NWE3YTlmMDJmM2NmZmM2YTA2ZDY5ZmU1ZGU2NWVlMzUxZWQwNjEmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.Ar0Q1wyWro33331i3OclPXjNKGOXyKiGvy_jGmKWIdg" data-canonical-src="https://private-user-images.githubusercontent.com/28768645/118589971-58cf8e80-b756-11eb-82ea-a94f84f57353.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDIxMzY4NDcsIm5iZiI6MTc0MjEzNjU0NywicGF0aCI6Ii8yODc2ODY0NS8xMTg1ODk5NzEtNThjZjhlODAtYjc1Ni0xMWViLTgyZWEtYTk0Zjg0ZjU3MzUzLm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTAzMTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwMzE2VDE0NDkwN1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWNjNDJkZjA3YWFmZWYwZTNlZWFlZjljYWI1NWE3YTlmMDJmM2NmZmM2YTA2ZDY5ZmU1ZGU2NWVlMzUxZWQwNjEmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.Ar0Q1wyWro33331i3OclPXjNKGOXyKiGvy_jGmKWIdg" controls="controls" muted="muted" class="d-block rounded-bottom-2 border-top width-fit" style="max-height:640px; min-height: 200px"> </video> </details> </td> <td> <code>RandomizeMaterials</code> is now supported! It enables a massive amount of realistic looking domain randomization within each scene. Try it out on the <a href="https://ai2thor.allenai.org/demo" rel="nofollow">demo</a> </td> </tr> <tr> <td align="center"> 4/2021 </td> <td colspan="2"> We are excited to release <a href="https://ai2thor.allenai.org/manipulathor/" rel="nofollow">ManipulaTHOR</a>, an environment within the AI2-THOR framework that facilitates visual manipulation of objects using a robotic arm. Please see the <a href="https://github.com/allenai/ai2thor/blob/main/doc/static/ReleaseNotes/ReleaseNotes_3.0.md">full 3.0.0 release notes here</a>. </td> </tr> <tr> <td align="center"> 4/2021 </td> <td width="50%"> <details open="" class="details-reset border rounded-2"> <summary class="px-3 py-2"> <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-device-camera-video"> <path d="M16 3.75v8.5a.75.75 0 0 1-1.136.643L11 10.575v.675A1.75 1.75 0 0 1 9.25 13h-7.5A1.75 1.75 0 0 1 0 11.25v-6.5C0 3.784.784 3 1.75 3h7.5c.966 0 1.75.784 1.75 1.75v.675l3.864-2.318A.75.75 0 0 1 16 3.75Zm-6.5 1a.25.25 0 0 0-.25-.25h-7.5a.25.25 0 0 0-.25.25v6.5c0 .138.112.25.25.25h7.5a.25.25 0 0 0 .25-.25v-6.5ZM11 8.825l3.5 2.1v-5.85l-3.5 2.1Z"></path> </svg> <span aria-label="Video description iTHOR-RandomizeLighting.mp4" class="m-1">iTHOR-RandomizeLighting.mp4</span> <span class="dropdown-caret"></span> </summary> <video src="https://private-user-images.githubusercontent.com/28768645/118590040-7a307a80-b756-11eb-9b4c-c43373bea528.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDIxMzY4NDcsIm5iZiI6MTc0MjEzNjU0NywicGF0aCI6Ii8yODc2ODY0NS8xMTg1OTAwNDAtN2EzMDdhODAtYjc1Ni0xMWViLTliNGMtYzQzMzczYmVhNTI4Lm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTAzMTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwMzE2VDE0NDkwN1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTBkNjYxYzY0NzY2MWViODhmYjljZGNiOGJhYTE4ZDFiNzA1M2IwYmVhMTNkZmJmNWVmZjk1YjI1NTUyOWNhYmUmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.PuDajGqwSMGYEGBf9Fmhl_dJxZcukQlhXq7HYHnqAwQ" data-canonical-src="https://private-user-images.githubusercontent.com/28768645/118590040-7a307a80-b756-11eb-9b4c-c43373bea528.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDIxMzY4NDcsIm5iZiI6MTc0MjEzNjU0NywicGF0aCI6Ii8yODc2ODY0NS8xMTg1OTAwNDAtN2EzMDdhODAtYjc1Ni0xMWViLTliNGMtYzQzMzczYmVhNTI4Lm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTAzMTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwMzE2VDE0NDkwN1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTBkNjYxYzY0NzY2MWViODhmYjljZGNiOGJhYTE4ZDFiNzA1M2IwYmVhMTNkZmJmNWVmZjk1YjI1NTUyOWNhYmUmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.PuDajGqwSMGYEGBf9Fmhl_dJxZcukQlhXq7HYHnqAwQ" controls="controls" muted="muted" class="d-block rounded-bottom-2 border-top width-fit" style="max-height:640px; min-height: 200px"> </video> </details> <details open="" class="details-reset border rounded-2"> <summary class="px-3 py-2"> <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-device-camera-video"> <path d="M16 3.75v8.5a.75.75 0 0 1-1.136.643L11 10.575v.675A1.75 1.75 0 0 1 9.25 13h-7.5A1.75 1.75 0 0 1 0 11.25v-6.5C0 3.784.784 3 1.75 3h7.5c.966 0 1.75.784 1.75 1.75v.675l3.864-2.318A.75.75 0 0 1 16 3.75Zm-6.5 1a.25.25 0 0 0-.25-.25h-7.5a.25.25 0 0 0-.25.25v6.5c0 .138.112.25.25.25h7.5a.25.25 0 0 0 .25-.25v-6.5ZM11 8.825l3.5 2.1v-5.85l-3.5 2.1Z"></path> </svg> <span aria-label="Video description RoboTHOR-RandomizeLighting.mp4" class="m-1">RoboTHOR-RandomizeLighting.mp4</span> <span class="dropdown-caret"></span> </summary> <video src="https://private-user-images.githubusercontent.com/28768645/118589727-d1821b00-b755-11eb-9dff-9eda97fe0998.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDIxMzY4NDcsIm5iZiI6MTc0MjEzNjU0NywicGF0aCI6Ii8yODc2ODY0NS8xMTg1ODk3MjctZDE4MjFiMDAtYjc1NS0xMWViLTlkZmYtOWVkYTk3ZmUwOTk4Lm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTAzMTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwMzE2VDE0NDkwN1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWUyMzM4ZTRmNzE3YjZmN2FkYTY5NmE1NjFhZTlmNGVjNjgwNzcxZmI2M2ZjNDM2YThiYzIxNGM3ZDRkOTllZDcmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.-rPs-xamxDTgGExd-PJX4WI4CI9zgnUskjGN6bsdiCw" data-canonical-src="https://private-user-images.githubusercontent.com/28768645/118589727-d1821b00-b755-11eb-9dff-9eda97fe0998.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDIxMzY4NDcsIm5iZiI6MTc0MjEzNjU0NywicGF0aCI6Ii8yODc2ODY0NS8xMTg1ODk3MjctZDE4MjFiMDAtYjc1NS0xMWViLTlkZmYtOWVkYTk3ZmUwOTk4Lm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTAzMTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwMzE2VDE0NDkwN1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWUyMzM4ZTRmNzE3YjZmN2FkYTY5NmE1NjFhZTlmNGVjNjgwNzcxZmI2M2ZjNDM2YThiYzIxNGM3ZDRkOTllZDcmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.-rPs-xamxDTgGExd-PJX4WI4CI9zgnUskjGN6bsdiCw" controls="controls" muted="muted" class="d-block rounded-bottom-2 border-top width-fit" style="max-height:640px; min-height: 200px"> </video> </details> </td> <td> <code>RandomizeLighting</code> is now supported! It includes many tunable parameters to allow for vast control over its effects. Try it out on the <a href="https://ai2thor.allenai.org" rel="nofollow">demo</a>!<br><br> </td> </tr> <tr> <td align="center"> 2/2021 </td> <td colspan="2"> We are excited to host the <a href="https://ai2thor.allenai.org/rearrangement/" rel="nofollow">AI2-THOR Rearrangement Challenge</a>, <a href="https://ai2thor.allenai.org/robothor/cvpr-2021-challenge/" rel="nofollow">RoboTHOR ObjectNav Challenge</a>, and <a href="https://askforalfred.com/EAI21/" rel="nofollow">ALFRED Challenge</a>, held in conjunction with the <a href="https://embodied-ai.org/" rel="nofollow">Embodied AI Workshop</a> at CVPR 2021. </td> </tr> <tr> <td align="center"> 2/2021 </td> <td colspan="2"> AI2-THOR v2.7.0 announces several massive speedups to AI2-THOR! Read more about it <a href="https://medium.com/ai2-blog/speed-up-your-training-with-ai2-thor-2-7-0-12a650b6ab5e" rel="nofollow">here</a>. </td> </tr> <tr> <td align="center"> 6/2020 </td> <td colspan="2"> We've released <a href="https://github.com/allenai/ai2thor-docker">🐳 AI2-THOR Docker</a> a mini-framework to simplify running AI2-THOR in Docker. </td> </tr> <tr> <td align="center"> 4/2020 </td> <td colspan="2"> Version 2.4.0 update of the framework is here. All sim objects that aren't explicitly part of the environmental structure are now moveable with physics interactions. New object types have been added, and many new actions have been added. Please see the <a href="https://github.com/allenai/ai2thor/blob/main/doc/static/ReleaseNotes/ReleaseNotes_2.4.md">full 2.4.0 release notes here</a>. </td> </tr> <tr> <td align="center"> 2/2020 </td> <td colspan="2"> AI2-THOR now includes two frameworks: <a href="https://ai2thor.allenai.org/ithor/" rel="nofollow">iTHOR</a> and <a href="https://ai2thor.allenai.org/robothor/" rel="nofollow">RoboTHOR</a>. iTHOR includes interactive objects and scenes and RoboTHOR consists of simulated scenes and their corresponding real world counterparts. </td> </tr> <tr> <td align="center"> 9/2019 </td> <td colspan="2"> Version 2.1.0 update of the framework has been added. New object types have been added. New Initialization actions have been added. Segmentation image generation has been improved in all scenes. </td> </tr> <tr> <td align="center"> 6/2019 </td> <td colspan="2"> Version 2.0 update of the AI2-THOR framework is now live! We have over quadrupled our action and object states, adding new actions that allow visually distinct state changes such as broken screens on electronics, shattered windows, breakable dishware, liquid fillable containers, cleanable dishware, messy and made beds and more! Along with these new state changes, objects have more physical properties like Temperature, Mass, and Salient Materials that are all reported back in object metadata. To combine all of these new properties and actions, new context sensitive interactions can now automatically change object states. This includes interactions like placing a dirty bowl under running sink water to clean it, placing a mug in a coffee machine to automatically fill it with coffee, putting out a lit candle by placing it in water, or placing an object over an active stove burner or in the fridge to change its temperature. Please see the <a href="https://github.com/allenai/ai2thor/blob/main/doc/static/ReleaseNotes/ReleaseNotes_2.0.md">full 2.0 release notes here</a> to view details on all the changes and new features. </td> </tr> </tbody></table></markdown-accessiblity-table> <div class="markdown-heading" dir="auto"><h2 tabindex="-1" class="heading-element" dir="auto">💻 Installation</h2><a id="user-content--installation" class="anchor" aria-label="Permalink: 💻 Installation" href="#-installation"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">With Google Colab</h3><a id="user-content-with-google-colab" class="anchor" aria-label="Permalink: With Google Colab" href="#with-google-colab"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <p dir="auto"><a href="https://github.com/allenai/ai2thor-colab">AI2-THOR Colab</a> 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.</p> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">With pip</h3><a id="user-content-with-pip" class="anchor" aria-label="Permalink: With pip" href="#with-pip"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <div class="highlight highlight-source-shell notranslate position-relative overflow-auto" dir="auto" data-snippet-clipboard-copy-content="pip install ai2thor"><pre>pip install ai2thor</pre></div> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">With conda</h3><a id="user-content-with-conda" class="anchor" aria-label="Permalink: With conda" href="#with-conda"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <div class="highlight highlight-source-shell notranslate position-relative overflow-auto" dir="auto" data-snippet-clipboard-copy-content="conda install -c conda-forge ai2thor"><pre>conda install -c conda-forge ai2thor</pre></div> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">With Docker</h3><a id="user-content-with-docker" class="anchor" aria-label="Permalink: With Docker" href="#with-docker"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <p dir="auto"><a href="https://github.com/allenai/ai2thor-docker">🐳 AI2-THOR Docker</a> can be used, which adds the configuration for running a X server to be used by Unity 3D to render scenes.</p> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">Minimal Example</h3><a id="user-content-minimal-example" class="anchor" aria-label="Permalink: Minimal Example" href="#minimal-example"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <p dir="auto">Once you've installed AI2-THOR, you can verify that everything is working correctly by running the following minimal example:</p> <div class="highlight highlight-source-python notranslate position-relative overflow-auto" dir="auto" data-snippet-clipboard-copy-content="from ai2thor.controller import Controller controller = Controller(scene="FloorPlan10") event = controller.step(action="RotateRight") metadata = event.metadata print(event, event.metadata.keys())"><pre><span class="pl-k">from</span> <span class="pl-s1">ai2thor</span>.<span class="pl-s1">controller</span> <span class="pl-k">import</span> <span class="pl-v">Controller</span> <span class="pl-s1">controller</span> <span class="pl-c1">=</span> <span class="pl-en">Controller</span>(<span class="pl-s1">scene</span><span class="pl-c1">=</span><span class="pl-s">"FloorPlan10"</span>) <span class="pl-s1">event</span> <span class="pl-c1">=</span> <span class="pl-s1">controller</span>.<span class="pl-c1">step</span>(<span class="pl-s1">action</span><span class="pl-c1">=</span><span class="pl-s">"RotateRight"</span>) <span class="pl-s1">metadata</span> <span class="pl-c1">=</span> <span class="pl-s1">event</span>.<span class="pl-c1">metadata</span> <span class="pl-en">print</span>(<span class="pl-s1">event</span>, <span class="pl-s1">event</span>.<span class="pl-c1">metadata</span>.<span class="pl-c1">keys</span>())</pre></div> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">Requirements</h3><a id="user-content-requirements" class="anchor" aria-label="Permalink: Requirements" href="#requirements"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <markdown-accessiblity-table><table> <thead> <tr> <th align="left">Component</th> <th align="left">Requirement</th> </tr> </thead> <tbody> <tr> <td align="left">OS</td> <td align="left">Mac OS X 10.9+, Ubuntu 14.04+</td> </tr> <tr> <td align="left">Graphics Card</td> <td align="left">DX9 (shader model 3.0) or DX11 with feature level 9.3 capabilities.</td> </tr> <tr> <td align="left">CPU</td> <td align="left">SSE2 instruction set support.</td> </tr> <tr> <td align="left">Python</td> <td align="left">Versions 3.5+</td> </tr> <tr> <td align="left">Linux</td> <td align="left">X server with GLX module enabled</td> </tr> </tbody> </table></markdown-accessiblity-table> <div class="markdown-heading" dir="auto"><h2 tabindex="-1" class="heading-element" dir="auto">💬 Support</h2><a id="user-content--support" class="anchor" aria-label="Permalink: 💬 Support" href="#-support"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <p dir="auto"><strong>Questions.</strong> If you have any questions on AI2-THOR, please ask them on our <a href="https://github.com/allenai/ai2thor/discussions">GitHub Discussions Page</a>.</p> <p dir="auto"><strong>Issues.</strong> If you encounter any issues while using AI2-THOR, please open an <a href="https://github.com/allenai/ai2thor/issues">Issue on GitHub</a>.</p> <div class="markdown-heading" dir="auto"><h2 tabindex="-1" class="heading-element" dir="auto">🏫 Learn more</h2><a id="user-content--learn-more" class="anchor" aria-label="Permalink: 🏫 Learn more" href="#-learn-more"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <markdown-accessiblity-table><table> <thead> <tr> <th align="left">Section</th> <th align="left">Description</th> </tr> </thead> <tbody> <tr> <td align="left"><a href="https://ai2thor.allenai.org/demo/" rel="nofollow">Demo</a></td> <td align="left">Interact and play with AI2-THOR live in the browser.</td> </tr> <tr> <td align="left"><a href="https://ai2thor.allenai.org/ithor/documentation/" rel="nofollow">iTHOR Documentation</a></td> <td align="left">Documentation for the iTHOR environment.</td> </tr> <tr> <td align="left"><a href="https://ai2thor.allenai.org/manipulathor/documentation/" rel="nofollow">ManipulaTHOR Documentation</a></td> <td align="left">Documentation for the ManipulaTHOR environment.</td> </tr> <tr> <td align="left"><a href="https://ai2thor.allenai.org/robothor/documentation/" rel="nofollow">RoboTHOR Documentation</a></td> <td align="left">Documentation for the RoboTHOR environment.</td> </tr> <tr> <td align="left"><a href="https://github.com/allenai/ai2thor-colab">AI2-THOR Colab</a></td> <td align="left">A way to run AI2-THOR freely on the cloud using Google Colab.</td> </tr> <tr> <td align="left"><a href="https://allenact.org/" rel="nofollow">AllenAct</a></td> <td align="left">An Embodied AI Framework build at AI2 that provides first-class support for AI2-THOR.</td> </tr> <tr> <td align="left"><a href="https://github.com/allenai/ai2thor/tree/main/unity#readme">AI2-THOR Unity Development</a></td> <td align="left">A (sparse) collection of notes that may be useful if editing on the AI2-THOR backend.</td> </tr> <tr> <td align="left"><a href="https://github.com/allenai/ai2thor/blob/main/WEBGL.md">AI2-THOR WebGL Development</a></td> <td align="left">Documentation on packaging AI2-THOR for the web, which might be useful for annotation based tasks.</td> </tr> </tbody> </table></markdown-accessiblity-table> <div class="markdown-heading" dir="auto"><h2 tabindex="-1" class="heading-element" dir="auto">📒 Citation</h2><a id="user-content--citation" class="anchor" aria-label="Permalink: 📒 Citation" href="#-citation"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <p dir="auto">If you use AI2-THOR or iTHOR scenes, please cite the original AI2-THOR paper:</p> <div class="highlight highlight-text-bibtex notranslate position-relative overflow-auto" dir="auto" data-snippet-clipboard-copy-content="@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} }"><pre><span class="pl-k">@article</span>{<span class="pl-en">ai2thor</span>, <span class="pl-s">author</span>=<span class="pl-s"><span class="pl-pds">{</span>Eric Kolve and Roozbeh Mottaghi and Winson Han and</span> <span class="pl-s"> Eli VanderBilt and Luca Weihs and Alvaro Herrasti and</span> <span class="pl-s"> Daniel Gordon and Yuke Zhu and Abhinav Gupta and</span> <span class="pl-s"> Ali Farhadi<span class="pl-pds">}</span></span>, <span class="pl-s">title</span>=<span class="pl-s"><span class="pl-pds">{</span>{AI2-THOR: An Interactive 3D Environment for Visual AI}<span class="pl-pds">}</span></span>, <span class="pl-s">journal</span>=<span class="pl-s"><span class="pl-pds">{</span>arXiv<span class="pl-pds">}</span></span>, <span class="pl-s">year</span>=<span class="pl-s"><span class="pl-pds">{</span>2017<span class="pl-pds">}</span></span> }</pre></div> <p dir="auto">If you use 🏘️ ProcTHOR or procedurally generated scenes, please cite the following paper:</p> <div class="highlight highlight-text-bibtex notranslate position-relative overflow-auto" dir="auto" data-snippet-clipboard-copy-content="@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} }"><pre><span class="pl-k">@inproceedings</span>{<span class="pl-en">procthor</span>, <span class="pl-s">author</span>=<span class="pl-s"><span class="pl-pds">{</span>Matt Deitke and Eli VanderBilt and Alvaro Herrasti and</span> <span class="pl-s"> Luca Weihs and Jordi Salvador and Kiana Ehsani and</span> <span class="pl-s"> Winson Han and Eric Kolve and Ali Farhadi and</span> <span class="pl-s"> Aniruddha Kembhavi and Roozbeh Mottaghi<span class="pl-pds">}</span></span>, <span class="pl-s">title</span>=<span class="pl-s"><span class="pl-pds">{</span>{ProcTHOR: Large-Scale Embodied AI Using Procedural Generation}<span class="pl-pds">}</span></span>, <span class="pl-s">booktitle</span>=<span class="pl-s"><span class="pl-pds">{</span>NeurIPS<span class="pl-pds">}</span></span>, <span class="pl-s">year</span>=<span class="pl-s"><span class="pl-pds">{</span>2022<span class="pl-pds">}</span></span>, <span class="pl-s">note</span>=<span class="pl-s"><span class="pl-pds">{</span>Outstanding Paper Award<span class="pl-pds">}</span></span> }</pre></div> <p dir="auto">If you use ManipulaTHOR agent, please cite the following paper:</p> <div class="highlight highlight-text-bibtex notranslate position-relative overflow-auto" dir="auto" data-snippet-clipboard-copy-content="@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} }"><pre><span class="pl-k">@inproceedings</span>{<span class="pl-en">manipulathor</span>, <span class="pl-s">title</span>=<span class="pl-s"><span class="pl-pds">{</span>{ManipulaTHOR: A Framework for Visual Object Manipulation}<span class="pl-pds">}</span></span>, <span class="pl-s">author</span>=<span class="pl-s"><span class="pl-pds">{</span>Kiana Ehsani and Winson Han and Alvaro Herrasti and</span> <span class="pl-s"> Eli VanderBilt and Luca Weihs and Eric Kolve and</span> <span class="pl-s"> Aniruddha Kembhavi and Roozbeh Mottaghi<span class="pl-pds">}</span></span>, <span class="pl-s">booktitle</span>=<span class="pl-s"><span class="pl-pds">{</span>CVPR<span class="pl-pds">}</span></span>, <span class="pl-s">year</span>=<span class="pl-s"><span class="pl-pds">{</span>2021<span class="pl-pds">}</span></span> }</pre></div> <p dir="auto">If you use RoboTHOR scenes, please cite the following paper:</p> <div class="highlight highlight-text-bibtex notranslate position-relative overflow-auto" dir="auto" data-snippet-clipboard-copy-content="@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} }"><pre><span class="pl-k">@inproceedings</span>{<span class="pl-en">robothor</span>, <span class="pl-s">author</span>=<span class="pl-s"><span class="pl-pds">{</span>Matt Deitke and Winson Han and Alvaro Herrasti and</span> <span class="pl-s"> Aniruddha Kembhavi and Eric Kolve and Roozbeh Mottaghi and</span> <span class="pl-s"> Jordi Salvador and Dustin Schwenk and Eli VanderBilt and</span> <span class="pl-s"> Matthew Wallingford and Luca Weihs and Mark Yatskar and</span> <span class="pl-s"> Ali Farhadi<span class="pl-pds">}</span></span>, <span class="pl-s">title</span>=<span class="pl-s"><span class="pl-pds">{</span>{RoboTHOR: An Open Simulation-to-Real Embodied AI Platform}<span class="pl-pds">}</span></span>, <span class="pl-s">booktitle</span>=<span class="pl-s"><span class="pl-pds">{</span>CVPR<span class="pl-pds">}</span></span>, <span class="pl-s">year</span>=<span class="pl-s"><span class="pl-pds">{</span>2020<span class="pl-pds">}</span></span> }</pre></div> <div class="markdown-heading" dir="auto"><h2 tabindex="-1" class="heading-element" dir="auto">👋 Our Team</h2><a id="user-content--our-team" class="anchor" aria-label="Permalink: 👋 Our Team" href="#-our-team"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 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