language:en 3D scenes Embodied AI region:us
---
language:
- en
pretty_name: AI2THOR-Hab
tags:
- 3D scenes
- Embodied AI
---

# AI2THOR-Hab

AI2THOR scene datasets include iTHOR, RoboTHOR, ProcTHOR-10K, ArchitecTHOR. Many of the assets of the interactable objects are shared across these datasets.

* **iTHOR**: includes 120 single room scenes, 30 scenes for each bedroom, bathroom, kitchen, and living room. In our extracted dataset, there are additional 30 foyers scenes.
* **RoboTHOR**: includes 89 apartments in maze style, where the rooms are subdivided by wall panels. Same of the scenes share the same room layout, but with different objects and object placements.
* **ArchitecTHOR**: includes 10 multiple-room sized houses, used for evaluation of the ProcTHOR.
* **ProcTHOR** : include 12000 procedurally generated multiple-room sized houses. The rooms in the house have 4 room types same as the iTHOR, and the objects assets are all form the iTHOR assets.

<table style="table-layout: fixed;">
  <tr>
    <td style="text-align: center; vertical-align: middle; width: 25%"> <img src="https://i.imgur.com/Y3MWIRO.png"  alt="ithor" width="70%" style="display: block; margin-left: auto; margin-right: auto;"></td>
    <td style="text-align: center; vertical-align: middle; width: 25%"> <img src="https://i.imgur.com/e8NKzc2.png" alt="robothor" width="100%" style="display: block; margin-left: auto; margin-right: auto;"></td>
    <td style="text-align: center; vertical-align: middle; width: 25%"> <img src="https://i.imgur.com/yiYofx3.png" alt="architecthor" width="100%" style="display: block; margin-left: auto; margin-right: auto;"></td>
    <td style="text-align: center; vertical-align: middle; width: 25%"> <img src="https://i.imgur.com/X6loIpw.png" alt="procthor" width="80%" style="display: block; margin-left: auto; margin-right: auto;"></td>
   </tr> 
   <tr>
      <td style="text-align: center; vertical-align: middle; width: 25%">iTHOR</td>
      <td style="text-align: center; vertical-align: middle; width: 25%">RoboTHOR</td>
      <td style="text-align: center; vertical-align: middle; width: 25%">ArchitecTHOR</td>
      <td style="text-align: center; vertical-align: middle; width: 25%">ProcTHOR</td>
  </td>
  </tr>
</table>

## Dataset Structure
Following is the dataset structure for the AI2Thor Habitat Scene Dataset:
```bash
ai2thorhab
├── assets
│   ├── objects
│   └── stages
│       ├── ArchitecTHOR
│       ├── iTHOR
│       ├── ProcTHOR
│       └── RoboTHOR
└── configs
    ├── objects
    ├── scenes
    │   ├── ArchitecTHOR
    │   ├── iTHOR
    │   ├── ProcTHOR
    │   └── RoboTHOR
    └── stages
        ├── ArchitecTHOR
        ├── iTHOR
        ├── ProcTHOR
        └── RoboTHOR
```

Data documentation:
1. [ai2thor.scene_dataset_config.json ](https://aihabitat.org/docs/habitat-sim/attributesJSON.html#scenedatasetattributes): This SceneDataset config file enumerates and aggregates the various assets and metadata necessary to fully describe a set of stages, objects, and/or scenes. It hold relative filepaths to all linked assets and additional configs.
2. [\<objectname\>.object_config.json](https://aihabitat.org/docs/habitat-sim/attributesJSON.html#objectattributes): Object config files with descriptive information for instancing rigid objects into Habitat.
3. [\<scenename\>.scene_instance.json](https://aihabitat.org/docs/habitat-sim/attributesJSON.html#sceneinstanceattributes): A scene is a single 3D world composed of a static stage and a variable number of objects. This folder includes the config files for each scene that pulls together other assets registered in the SceneDataset to form a cohesive 3D world for simulation.
4. `object_semantic_id_mapping.json`: Semantic Scene Descriptor (SSD) with a mapping from object names to unique IDs.
5. `objects/*.glb`: Movable object assets.
6. `stages/*.glb`: Static stage scene asset.

## Load AI2Thor Habitat Scene Dataset in Habitat-Sim

Load the AI2Thor Habitat Scene Dataset into [Habitat-Sim](https://github.com/facebookresearch/habitat-sim).

Run the following command to load the AI2Thor scene into Habitat-Sim:
```bash
habitat-viewer --dataset /path/to/ai2thorhab/ai2thor.scene_dataset_config.json -- name-of-the-scene
# for example:
# habitat-viewer --dataset /path/to/ai2thorhab/ai2thor.scene_dataset_config.json -- FloorPlan1_physics
```
