ManipulaTHOR

ManipulaTHOR ArmPointNav

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Simulated task where a mobile arm must fetch an object and carry it to a target point in a kitchen.1

Sources
Last checked 10 Oct 2026Basic entry17 of 19 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
Used by
1693
citations
Licence
Unclear4

Comparisons with real robots

Not checked2

Details

No real-robot use reported in the paper.

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
Kiana Ehsani, Winson Han, Alvaro Herrasti, Eli VanderBilt, Luca Weihs, Eric Kolve, Aniruddha Kembhavi, Roozbeh Mottaghi; repo in allenai organisation1
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Checked 2026-10-10.

Released
2021-04 (arXiv v1 2021-04-22)1
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Checked 2026-10-10.

Version
No releases or tags; repo archived5
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Checked 2026-10-10.

Last update
GitHub repo archived (read-only); last push 2023-02-07; no releases5
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GitHub API archived=true. Checked 2026-10-10.

Status
Dormant5
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Checked 2026-10-10.

Setup

Runs in
Simulation2
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Checked 2026-10-10.

Robot
Arm on wheels2
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Simulated arm 'inspired by Kinova'; text says three-jointed, Fig. 2 caption says four joints (internal conflict). Abstract grasp: object picked if it intersects a sphere at the end effector. Checked 2026-10-10.

Setting
Kitchen2
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Checked 2026-10-10.

Size
APND: 30 kitchen scenes (20/5/5), 150+ object categories (69 interactable), 12 pickupable target categories (6 seen, 6 novel), 60 tasks per object per scene, about 72k object locations2
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Checked 2026-10-10.

Scoring and access

Scored by
Success rate2
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SRwD (success without disturbance), SR, PuSR (pick-up success), plus episode lengths. Checked 2026-10-10.

Leaderboard
None. Scores are only in papers.5
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Looked in repo and AI2-THOR site. Checked 2026-10-10.

Code licence
MIT (LICENSE file; includes original copyrights of Ilya Kostrikov and Facebook)4
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GitHub API reports NOASSERTION because of the combined copyright header. Checked 2026-10-10.

Data licence
APND data under the repo's MIT licence; no separate dataset licence found Inferred4
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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 5

  1. 1ManipulaTHOR: A Framework for Visual Object ManipulationPaper · Apr 2021 · checked 10 Oct 2026
  2. 2ManipulaTHOR: A Framework for Visual Object Manipulation (full text)Paper · Apr 2021 · checked 10 Oct 2026
  3. 3Semantic Scholar API recordIndex · checked 10 Oct 2026
  4. 4allenai/manipulathor on GitHub (blob)Repository · checked 10 Oct 2026
  5. 5allenai/manipulathor on GitHub (repository)Repository · checked 10 Oct 2026

Change history

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