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AI2THOR scene datasets include iTHOR, RoboTHOR, ProcTHOR-10K, ArchitecTHOR. Many of the assets of the interactable objects are shared across these datasets.

  • iTHOR: includes 120 single room scenes, 30 scenes for each bedroom, bathroom, kitchen, and living room. In our extracted dataset, there are additional 30 foyers scenes.
  • RoboTHOR: includes 89 apartments in maze style, where the rooms are subdivided by wall panels. Same of the scenes share the same room layout, but with different objects and object placements.
  • ArchitecTHOR: includes 10 multiple-room sized houses, used for evaluation of the ProcTHOR.
  • ProcTHOR : include 12000 procedurally generated multiple-room sized houses. The rooms in the house have 4 room types same as the iTHOR, and the objects assets are all form the iTHOR assets.
ithor robothor architecthor procthor

Dataset Structure

Following is the dataset structure for the AI2Thor Habitat Scene Dataset:

β”œβ”€β”€ assets
β”‚   β”œβ”€β”€ objects
β”‚   └── stages
β”‚       β”œβ”€β”€ ArchitecTHOR
β”‚       β”œβ”€β”€ iTHOR
β”‚       β”œβ”€β”€ ProcTHOR
β”‚       └── RoboTHOR
└── configs
    β”œβ”€β”€ objects
    β”œβ”€β”€ scenes
    β”‚   β”œβ”€β”€ ArchitecTHOR
    β”‚   β”œβ”€β”€ iTHOR
    β”‚   β”œβ”€β”€ ProcTHOR
    β”‚   └── RoboTHOR
    └── stages
        β”œβ”€β”€ ArchitecTHOR
        β”œβ”€β”€ iTHOR
        β”œβ”€β”€ ProcTHOR
        └── RoboTHOR

Data documentation:

  1. ai2thor.scene_dataset_config.json : This SceneDataset config file enumerates and aggregates the various assets and metadata necessary to fully describe a set of stages, objects, and/or scenes. It hold relative filepaths to all linked assets and additional configs.
  2. <objectname>.object_config.json: Object config files with descriptive information for instancing rigid objects into Habitat.
  3. <scenename>.scene_instance.json: A scene is a single 3D world composed of a static stage and a variable number of objects. This folder includes the config files for each scene that pulls together other assets registered in the SceneDataset to form a cohesive 3D world for simulation.
  4. object_semantic_id_mapping.json: Semantic Scene Descriptor (SSD) with a mapping from object names to unique IDs.
  5. objects/*.glb: Movable object assets.
  6. stages/*.glb: Static stage scene asset.

Load AI2Thor Habitat Scene Dataset in Habitat-Sim

Load the AI2Thor Habitat Scene Dataset into Habitat-Sim.

Run the following command to load the AI2Thor scene into Habitat-Sim:

habitat-viewer --dataset /path/to/ai2thorhab/ai2thor.scene_dataset_config.json -- name-of-the-scene
# for example:
# habitat-viewer --dataset /path/to/ai2thorhab/ai2thor.scene_dataset_config.json -- FloorPlan1_physics
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