| --- |
| language: |
| - en |
| pretty_name: AI2THOR-Hab |
| tags: |
| - 3D scenes |
| - Embodied AI |
| --- |
| |
| # AI2THOR-Hab |
|
|
| 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. |
|
|
| <table style="table-layout: fixed;"> |
| <tr> |
| <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> |
| <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> |
| <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> |
| <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> |
| </tr> |
| <tr> |
| <td style="text-align: center; vertical-align: middle; width: 25%">iTHOR</td> |
| <td style="text-align: center; vertical-align: middle; width: 25%">RoboTHOR</td> |
| <td style="text-align: center; vertical-align: middle; width: 25%">ArchitecTHOR</td> |
| <td style="text-align: center; vertical-align: middle; width: 25%">ProcTHOR</td> |
| </td> |
| </tr> |
| </table> |
| |
| ## Dataset Structure |
| Following is the dataset structure for the AI2Thor Habitat Scene Dataset: |
| ```bash |
| ai2thorhab |
| ├── assets |
| │ ├── objects |
| │ └── stages |
| │ ├── ArchitecTHOR |
| │ ├── iTHOR |
| │ ├── ProcTHOR |
| │ └── RoboTHOR |
| └── configs |
| ├── objects |
| ├── scenes |
| │ ├── ArchitecTHOR |
| │ ├── iTHOR |
| │ ├── ProcTHOR |
| │ └── RoboTHOR |
| └── stages |
| ├── ArchitecTHOR |
| ├── iTHOR |
| ├── ProcTHOR |
| └── RoboTHOR |
| ``` |
|
|
| Data documentation: |
| 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. |
| 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. |
| 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. |
| 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](https://github.com/facebookresearch/habitat-sim). |
|
|
| Run the following command to load the AI2Thor scene into Habitat-Sim: |
| ```bash |
| 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 |
| ``` |
|
|
