AI2-THOR Rearrangement

AI2-THOR Rearrangement (RoomR)

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Simulated task where an agent must restore moved objects in a room to their earlier positions and states.1

Sources
Last checked 10 Oct 2026Basic entry12 of 20 facts checked at the sourceNext check 8 Apr 2027
Runs in
Simulation2
Checked against real robots
Not checked
Skill
Household tasks
Robot
Arm on wheels2
Licence
Apache-2.02

Comparisons with real robots

Not checked2

Details

No real-robot evaluation found in paper abstract, README or challenge page.

Details

About

What it is
Benchmark Inferred1
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Classified by the Atlas from how the authors describe and distribute it.

Built by
Luca Weihs, Matt Deitke, Aniruddha Kembhavi, Roozbeh Mottaghi; repo allenai/ai2thor-rearrangement1
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Checked 2026-10-10.

Released
2021-03 (arXiv v1 2021-03-30)1
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Checked 2026-10-10.

Version
2023 challenge dataset; GitHub release v0.6.0 (2023-04-19)2
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Checked 2026-10-10.

Last update
README: 2023 AI2-THOR Rearrangement Challenge (upgraded AI2-THOR from 5.0.0, new dataset with more balanced easy/hard episodes, opening logic changes). GitHub release v0.6.0 on 2023-04-19; last push 2023-08-15.2
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README says the 2023 challenge is hosted at the 'CVPR'22' workshop, likely a typo; challenge page covers 2022 only. Checked 2026-10-10.

Status
Dormant Inferred2
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No challenge after 2023 found; last push 2023-08. Checked 2026-10-10.

Setup

Runs in
Simulation2
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Checked 2026-10-10.

Robot
Arm on wheels Inferred2
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Abstract iTHOR agent with navigation and object-interaction actions; no named robot. Checked 2026-10-10.

Setting
Kitchen, Whole home Inferred2
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iTHOR floor plans (rooms). Checked 2026-10-10.

Size
120 scenes; 6,000 distinct rearrangement settings (RoomR); 72 object types1
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Checked 2026-10-10.

Scoring and access

Scored by
Progress score Inferred2
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Headline metric '% Fixed Strict'; task.metrics() also returns prop_fixed, prop_fixed_strict, energy and num_misplaced. Exact definition of 'strict' not read today. Checked 2026-10-10.

Leaderboard
Official leaderboard3
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Checked 2026-10-10.

Code licence
Apache-2.02
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GitHub API licence detection. Checked 2026-10-10.

Data licence
Dataset splits ship as data/*.pkl.gz in the Apache-2.0 repo; no separate dataset licence found Inferred2
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Checked 2026-10-10.

Published at
CVPR 2021, oral (arXiv comment)1
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Checked 2026-10-10.

Sources 3

  1. 1Visual Room RearrangementPaper · Mar 2021 · checked 10 Oct 2026
  2. 2allenai/ai2thor-rearrangement on GitHub (repository)Repository · checked 10 Oct 2026
  3. 3https://ai2thor.allenai.org/rearrangement/Official site · checked 10 Oct 2026

Change history

  1. Created as a basic entry: identity facts checked at primary sources (phase 1 re-verification).