Before revision:  i) generation of high-quality visual virtual sensor signals (RGB, depth, segmentation, LiDAR, flow , among others ), ii) domain randomization to change the materials of the objects (both visual texture and dynamics ) and/or their shapes, iii) integrated sampling-based motion planners to generate collision-free trajectories for robot bases and arms, and iv) intuitive human-iGibson interface that enables efficient collection of human demonstrations.
After revision:  i) generation of high-quality visual virtual sensor signals (RGB, depth, segmentation, LiDAR, flow and so on ), ii) domain randomization to change the materials of the objects (both visual texture and dynamics ) and/or their shapes, iii) integrated sampling-based motion planners to generate collision-free trajectories for robot bases and arms, and iv) intuitive human-iGibson interface that enables efficient collection of human demonstrations.