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Datasets:
haosulab
/
AI2THOR

Tasks:
Reinforcement Learning
Robotics
Languages:
English
Size:
1M<n<10M
Tags:
robotics
reinforcement learning
embodied ai
computer vision
simulation
License:
Dataset card Files Community
AI2THOR / README.md
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metadata
license: cc-by-4.0
language:
  - en
tags:
  - robotics
  - reinforcement learning
  - embodied ai
  - computer vision
  - simulation
size_categories:
  - 1M<n<10M
task_categories:
  - reinforcement-learning
  - robotics
viewer: false

AI2THOR Scene/Object Dataset for ManiSkill

This is a modified version of the Habitat Synthetic Scenes Dataset (HSSD) which is also modified based on the original AI2THOR scenes and assets in order to make it usable by ManiSkill. There are 10,000+ scenes and 10,000+ different objects so downloading this can take a bit of time.

Note that currently this dataset has no interactable articulated objects as the original AI2THOR simulator is based on unity and had magic articulation scripts that were not / could not be ported into usable urdfs.

Changes to HSSD for repo:

  • Add decomposed collision meshes for a number of objects, although not all are decomposed yet.

After installing ManiSkill to download this dataset run

python -m mani_skill.utils.download_asset "AI2THOR"