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iGibson 1.0: a Simulation Environment for Interactive Tasks in Large Realistic Scenes
[article]
2021
arXiv
pre-print
We present iGibson 1.0, a novel simulation environment to develop robotic solutions for interactive tasks in large-scale realistic scenes. Our environment contains 15 fully interactive home-sized scenes with 108 rooms populated with rigid and articulated objects. The scenes are replicas of real-world homes, with distribution and the layout of objects aligned to those of the real world. iGibson 1.0 integrates several key features to facilitate the study of interactive tasks: i) generation of
arXiv:2012.02924v6
fatcat:rntndokbmrek3iznnjgwbkmp3u