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--- |
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license: cc-by-4.0 |
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language: |
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- en |
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tags: |
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- robotics |
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- reinforcement learning |
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- embodied ai |
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- computer vision |
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- simulation |
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size_categories: |
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- 1M<n<10M |
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task_categories: |
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- reinforcement-learning |
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- robotics |
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viewer: false |
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--- |
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# AI2THOR Scene/Object Dataset for ManiSkill |
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This is a modified version of the [Habitat Synthetic Scenes Dataset (HSSD)](https://huggingface.co/datasets/hssd/ai2thor-hab) which is also modified based on the original [AI2THOR](https://github.com/allenai/ai2thor/) scenes and assets |
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in order to make it usable by [ManiSkill](https://github.com/haosulab/ManiSkill). There are 10,000+ scenes and 10,000+ different objects so downloading this can take a bit of time. |
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Note that currently this dataset has no interactable articulated objects as the original AI2THOR simulator is based on unity and had magic articulation scripts that were not / could not be ported into usable urdfs. |
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Changes to HSSD for repo: |
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- Add decomposed collision meshes for a number of objects, although not all are decomposed yet. |
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After installing ManiSkill to download this dataset run |
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``` |
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python -m mani_skill.utils.download_asset "AI2THOR" |
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``` |
