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AI2-THOR (The House Of inteRactions) is a near photo-realistic interactable framework for AI agents.

News

• (6/2019) Version 2.0 update of the AI2-THOR framework is now live! We have over quadrupled our action and object states, adding new actions that allow visually distinct state changes such as broken screens on electronics, shattered windows, breakable dishware, liquid fillable containers, cleanable dishware, messy and made beds and more! Along with these new state changes, objects have more physical properties like Temperature, Mass, and Salient Materials that are all reported back in object metadata. To combine all of these new properties and actions, new context sensitive interactions can now automatically change object states. This includes interactions like placing a dirty bowl under running sink water to clean it, placing a mug in a coffee machine to automatically fill it with coffee, putting out a lit candle by placing it in water, or placing an object over an active stove burner or in the fridge to change its temperature. Please see the full 2.0 release notes here to view details on all the changes and new features.

• (3/2019) Introducing Version 1.0 of the AI2-THOR framework! This release includes a full rework of all Sim Objects and Scenes to have additional physics functionality and improved fidelity. Physics based interactions can now be modeled in the THOR environment in realistic ways like never before! Object collision when placed in receptacles, moveable receptacles that contain other objects, collision based object position randomization, Multi-Agent support— these are a few of the many exciting new features that come with this update. Please check the full 1.0 release notes here to view details on all the changes and new features.

• (4/2018) We have released version 0.0.25 of AI2-THOR. The main changes include: upgrade to Unity 2017, performance optimization to improve frame rate, and various bug fixes. We have also added some physics functionalities. Please contact us for instructions.

• (1/2018) If you need a docker version, please contact us so we provide you with the instructions. Our docker version is in beta mode.

Requirements

• OS: Mac OS X 10.9+, Ubuntu 14.04+
• Graphics Card: DX9 (shader model 3.0) or DX11 with feature level 9.3 capabilities.
• CPU: SSE2 instruction set support.
• Python 2.7 or Python 3.5+
• Linux: X server with GLX module enabled

Documentation

Please refer to the documentation page on the AI2-THOR website for information on installation, API, metadata, actions, object properties and other important framework information.

Installation

pip install ai2thor

Once installed you can launch the framework. Make sure X server with OpenGL extensions is running before running the following commands. You can check by running glxinfo or glxgears.

import ai2thor.controller
controller = ai2thor.controller.Controller()
controller.start()
# Kitchens:       FloorPlan1 - FloorPlan30
# Living rooms:   FloorPlan201 - FloorPlan230
# Bedrooms:       FloorPlan301 - FloorPlan330
# Bathrooms:      FloorPLan401 - FloorPlan430
controller.reset('FloorPlan28')
# gridSize specifies the coarseness of the grid that the agent navigates on
controller.step(dict(action='Initialize', gridSize=0.25))
event = controller.step(dict(action='MoveAhead'))

Upon executing the controller.start() a window should appear on screen with a view of the room FloorPlan28.

Each call to controller.step() returns an instance of an Event. The Event object contains a screen capture from the point the last action completed as well as metadata about each object within the scene.

event = controller.step(dict(action=MoveAhead))
# Numpy Array - shape (width, height, channels), channels are in RGB order
event.frame
# byte[] PNG image
event.image
# current metadata dictionary that includes the state of the scene
event.metadata

Unity Development

If you wish to make changes to the Unity scenes/assets you will need to install Unity Editor version 2018.3.6 for OSX (Linux Editor is currently in Beta) from Unity Download Archive. After making your desired changes using the Unity Editor you will need to build. To do this you must first exit the editor, then run the following commands from the ai2thor base directory. Individual scenes (the 3D models) can be found beneath the unity/Assets/Scenes directory - scenes are named FloorPlan###.

pip install invoke
invoke local-build

This will create a build beneath the directory 'unity/builds/local-build/thor-local-OSXIntel64.app'. To use this build in your code, make the following change:

controller = ai2thor.controller.Controller()
controller.local_executable_path = "<BASE_DIR>/unity/builds/local-build/thor-local-OSXIntel64.app/Contents/MacOS/thor-local-OSXIntel64"
controller.start()

Citation

@article{ai2thor,
    Author = {Eric Kolve and Roozbeh Mottaghi 
              and Winson Han and Eli VanderBilt 
              and Luca Weihs and Alvaro Herrasti 
              and Daniel Gordon and Yuke Zhu 
              and Abhinav Gupta and Ali Farhadi},
    Title = {{AI2-THOR: An Interactive 3D Environment for Visual AI}},
    Journal = {arXiv},
    Year = {2017}
}

Support

We have done our best to fix all bugs and issues. However, you might still encounter some bugs during navigation and interaction. We will be glad to fix the bugs. Please open issues for these and include the scene name as well as the event.metadata from the moment that the bug can be identified.

Team

AI2-THOR is an open-source project backed by the Allen Institute for Artificial Intelligence (AI2). AI2 is a non-profit institute with the mission to contribute to humanity through high-impact AI research and engineering.