RoboTHOR ObjectNav

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Object-goal navigation benchmark in 89 simulated apartments, 14 of them rebuilt physically for robot testing.1

Sources
Last checked 10 Oct 2026Basic entry16 of 19 facts checked at the sourceNext check 8 Apr 2027
Runs in
Simulation2
Checked against real robots
Not checked
Skill
Navigation
Robot
Wheels only2
Used by
3403
citations
Licence
Apache-2.04

Comparisons with real robots

Tried on real robots, not compared2

Details

Paper ran one learned model (Image) on a LoCoBot in the physical apartments: Easy success 55.30 sim vs 33.33 real, SPL 38.12 vs 3.53. No correlation statistic; 2021 challenge ran in simulation only (COVID-19).

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
Allen Institute for AI (13 authors; repo allenai/robothor-challenge)4
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Checked 2026-10-10.

Released
2020-04 (arXiv v1 2020-04-14)1
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Checked 2026-10-10.

Version
2021 challenge configuration; README pins ai2thor==2.7.2 for AllenAct baselines4
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Checked 2026-10-10.

Last update
2021 RoboTHOR ObjectNav Challenge: announced 2021-02-17, submissions closed 2021-05-31, winners 2021-06-19; repo last pushed 2021-05-175
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Checked 2026-10-10.

Status
Dormant Inferred4
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No challenge after 2021 found; repo last pushed 2021-05. Checked 2026-10-10.

Setup

Runs in
Simulation2
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The 2021 challenge page states it ran only in simulation due to COVID-19. Checked 2026-10-10.

Robot
Wheels only2
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Checked 2026-10-10.

Robot model
LoCoBot with Intel RealSense RGB-D camera2
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Checked 2026-10-10.

Setting
Whole home2
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Apartments. Checked 2026-10-10.

Scoring and access

Scored by
Path efficiency, Success rate5
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Headline SPL. Success: target within 1 m, agent issues STOP, object visible in final frame. Checked 2026-10-10.

Leaderboard
Official leaderboard4
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Tried WebFetch and curl. Checked 2026-10-10.

Code licence
Apache-2.04
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GitHub API licence detection for allenai/robothor-challenge. Checked 2026-10-10.

Data licence
Episodes ship in the Apache-2.0 challenge repo; no separate dataset licence found Inferred4
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Checked 2026-10-10.

Published at
CVPR 2020 (arXiv comment)1
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Checked 2026-10-10.

Sources 5

  1. 1RoboTHOR: An Open Simulation-to-Real Embodied AI PlatformPaper · Apr 2020 · checked 10 Oct 2026
  2. 2RoboTHOR: An Open Simulation-to-Real Embodied AI Platform (full text)Paper · Apr 2020 · checked 10 Oct 2026
  3. 3Semantic Scholar API recordIndex · checked 10 Oct 2026
  4. 4allenai/robothor-challenge on GitHub (repository)Repository · checked 10 Oct 2026
  5. 5https://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).