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--- |
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language: |
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- en |
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pretty_name: AI2THOR-Hab |
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tags: |
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- 3D scenes |
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- Embodied AI |
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--- |
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# AI2THOR-Hab |
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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. |
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* **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. |
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* **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. |
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* **ArchitecTHOR**: includes 10 multiple-room sized houses, used for evaluation of the ProcTHOR. |
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* **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. |
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<table style="table-layout: fixed;"> |
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<tr> |
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<td style="text-align: center; vertical-align: middle; width: 25%"> <img src="https://i.imgur.com/Y3MWIRO.png" alt="ithor" width="70%" style="display: block; margin-left: auto; margin-right: auto;"></td> |
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<td style="text-align: center; vertical-align: middle; width: 25%"> <img src="https://i.imgur.com/e8NKzc2.png" alt="robothor" width="100%" style="display: block; margin-left: auto; margin-right: auto;"></td> |
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<td style="text-align: center; vertical-align: middle; width: 25%"> <img src="https://i.imgur.com/yiYofx3.png" alt="architecthor" width="100%" style="display: block; margin-left: auto; margin-right: auto;"></td> |
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<td style="text-align: center; vertical-align: middle; width: 25%"> <img src="https://i.imgur.com/X6loIpw.png" alt="procthor" width="80%" style="display: block; margin-left: auto; margin-right: auto;"></td> |
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</tr> |
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<tr> |
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<td style="text-align: center; vertical-align: middle; width: 25%">iTHOR</td> |
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<td style="text-align: center; vertical-align: middle; width: 25%">RoboTHOR</td> |
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<td style="text-align: center; vertical-align: middle; width: 25%">ArchitecTHOR</td> |
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<td style="text-align: center; vertical-align: middle; width: 25%">ProcTHOR</td> |
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</td> |
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</tr> |
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</table> |
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## Dataset Structure |
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Following is the dataset structure for the AI2Thor Habitat Scene Dataset: |
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```bash |
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ai2thorhab |
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├── assets |
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│ ├── objects |
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│ └── stages |
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│ ├── ArchitecTHOR |
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│ ├── iTHOR |
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│ ├── ProcTHOR |
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│ └── RoboTHOR |
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└── configs |
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├── objects |
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├── scenes |
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│ ├── ArchitecTHOR |
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│ ├── iTHOR |
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│ ├── ProcTHOR |
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│ └── RoboTHOR |
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└── stages |
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├── ArchitecTHOR |
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├── iTHOR |
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├── ProcTHOR |
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└── RoboTHOR |
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``` |
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Data documentation: |
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1. [ai2thor.scene_dataset_config.json ](https://aihabitat.org/docs/habitat-sim/attributesJSON.html#scenedatasetattributes): 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. |
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2. [\<objectname\>.object_config.json](https://aihabitat.org/docs/habitat-sim/attributesJSON.html#objectattributes): Object config files with descriptive information for instancing rigid objects into Habitat. |
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3. [\<scenename\>.scene_instance.json](https://aihabitat.org/docs/habitat-sim/attributesJSON.html#sceneinstanceattributes): 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. |
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4. `object_semantic_id_mapping.json`: Semantic Scene Descriptor (SSD) with a mapping from object names to unique IDs. |
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5. `objects/*.glb`: Movable object assets. |
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6. `stages/*.glb`: Static stage scene asset. |
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## Load AI2Thor Habitat Scene Dataset in Habitat-Sim |
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Load the AI2Thor Habitat Scene Dataset into [Habitat-Sim](https://github.com/facebookresearch/habitat-sim). |
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Run the following command to load the AI2Thor scene into Habitat-Sim: |
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```bash |
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habitat-viewer --dataset /path/to/ai2thorhab/ai2thor.scene_dataset_config.json -- name-of-the-scene |
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# for example: |
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# habitat-viewer --dataset /path/to/ai2thorhab/ai2thor.scene_dataset_config.json -- FloorPlan1_physics |
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``` |
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