AI2-THOR

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Unity-based simulator of interactive indoor rooms and houses used to train and test navigation and manipulation agents.1

Sources
Last checked 10 Oct 2026Basic entry14 of 21 facts checked at the sourceNext check 8 Apr 2027
Runs in
Simulation1
Checked against real robots
Not checked
Skill
Navigation
Robot
Wheels only, Arm on wheels, Game character2
Used by
1,5853
citations
Licence
Apache-2.04

Comparisons with real robots

Not checked Inferred2

Details

Platform level. Sim-to-real evidence exists only for specific benchmarks on it: RoboTHOR (1 model on LoCoBot) and CHORES/SPOC (2 models on Stretch), recorded separately.

Details

About

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

Built by
Allen Institute for AI (repo in the allenai GitHub organisation; 13 authors incl. Kolve, Mottaghi, Kembhavi, Farhadi)5
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Checked 2026-10-10.

Released
2017-12 (arXiv v1 2017-12-14; repo created 2017-10-17)1
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Checked 2026-10-10.

Version
5.0.06
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Checked 2026-10-10.

Last update
GitHub release 5.0.0 on 2022-12-13 (PyPI latest 5.0.0, same day); arXiv v4 2022-08-26; latest default-branch commit 2025-05-29 ('Update to ovens')7
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PyPI: https://pypi.org/project/ai2thor/ Checked 2026-10-10.

Status
Maintained Inferred5
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Checked 2026-10-10.

Setup

Runs in
Simulation1
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Checked 2026-10-10.

Robot
Wheels only, Arm on wheels, Game character2
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LoCoBot with Kinect camera (RoboTHOR); humanoid and drone agents in iTHOR; arm agent in ManipulaTHOR; Stretch RE-1 in SPOC/CHORES. Checked 2026-10-10.

Setting
Kitchen, Whole home2
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Checked 2026-10-10.

Size
iTHOR 120 rooms with 2,000+ unique objects; RoboTHOR 89 apartments with 600+ objects2
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Checked 2026-10-10.

Scoring and access

Scored by
Unknown2
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Checked 2026-10-10.

Leaderboard
None8
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Checked 2026-10-10.

Code licence
Apache-2.04
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Read the LICENSE file. Checked 2026-10-10.

Data licence
No dataset of its own; scenes and assets ship in the Apache-2.0 repository/builds, no separate licence found Inferred4
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Checked 2026-10-10.

Published at
arXiv only (Semantic Scholar venue 'arXiv.org')1
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Checked 2026-10-10.

Sources 8

  1. 1AI2-THOR: An Interactive 3D Environment for Visual AIPaper · Dec 2017 · checked 10 Oct 2026
  2. 2https://ai2thor.allenai.org/Official site · checked 10 Oct 2026
  3. 3Semantic Scholar API recordIndex · checked 10 Oct 2026
  4. 4allenai/ai2thor on GitHub (blob)Repository · checked 10 Oct 2026
  5. 5allenai/ai2thor on GitHub (repository)Repository · checked 10 Oct 2026
  6. 6Client ChallengeRepository · checked 10 Oct 2026
  7. 7allenai/ai2thor on GitHub (releases)Repository · checked 10 Oct 2026
  8. 8https://ai2thor.allenai.org/robothor/cvpr-2021-challenge/Official site · checked 10 Oct 2026

Change history

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