• 120 rooms including kitchens, bedrooms, bathrooms and living rooms

• Over 2000 unique objects

• Based on Unity 3D which enables physical simulation for objects and scenes

• Includes objects with visual state changes including open/close, on/off, hot/cold

• Support for multiple agent types such as humanoids and drones

• Support for multiple agents in a single scene

• 89 apartments with 600+ objects

• Physical and simulated counterparts for 14 apartments

• Uses the LoCoBot robot with a Kinect camera

• Apartments built in a modular fashion drawing from an asset library

• Physical apartments are easily reconfigurable

• Simulation and real environments accessible to all

Framework Comparison

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