mlsanityData to 7 Oct 2026

iGibson 1.0: a Simulation Environment for Interactive Tasks in Large Realistic Scenes

arXiv 2012.02924 ↗First posted 5 Dec 2020cs.AI cs.CV cs.ROcited by 151

On the map: World models → Embodied and robot world models

Abstract (arXiv)

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 high-quality virtual sensor signals (RGB, depth, segmentation, LiDAR, flow and so on), ii) domain randomization to change the materials of the objects (both visual and physical) and/or their shapes, iii) integrated sampling-based motion planners to generate collision-free trajectories for robot bases and arms, and iv) intuitive human-iGibson interface that enables efficient collection of human demonstrations. Through experiments, we show that the full interactivity of the scenes enables agents to learn useful visual representations that accelerate the training of downstream manipulation tasks. We also show that iGibson 1.0 features enable the generalization of navigation agents, and that the human-iGibson interface and integrated motion planners facilitate efficient imitation learning of human demonstrated (mobile) manipulation behaviors. iGibson 1.0 is open-source, equipped with comprehensive examples and documentation. For more information, visit our project website: http://svl.stanford.edu/igibson/

Key facts. Cited by 151 papers in the map (data through 7 Oct 2026). Placed in Embodied and robot world models, one of 11 directions in World models. Builds on 5 of its 66 references that are in the map. First posted on arXiv 5 Dec 2020.

Builds on

5 of 66 references.

Closest ancestors · 1

Same direction, newest first

  1. 2020SAPIEN: A SimulAted Part-based Interactive ENvironment19 Mar

Other references · 4

  1. 2017Matterport3D: Learning from RGB-D Data in Indoor Environmentscited by 1,354
  2. 2019Habitat: A Platform for Embodied AI Researchcited by 1,163
  3. 2017AI2-THOR: An Interactive 3D Environment for Visual AIcited by 850
  4. 2020ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulationcited by 249

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 19; 2022: 23; 2023: 32; 2024: 28; 2025: 20; 2026: 29.

151 papers.

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  1. 2023Voyager: An Open-Ended Embodied Agent with Large Language Modelscited by 2,081
  2. 2023AutoGen: Enabling Next-Gen LLM Applications via Multi-Agent Conversationcited by 1,906
  3. 2023AgentBench: Evaluating LLMs as Agentscited by 1,211
  4. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 501
  5. 2022MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledgecited by 469
  6. 2022VIMA: General Robot Manipulation with Multimodal Promptscited by 403
  7. 2023PointOdyssey: A Large-Scale Synthetic Dataset for Long-Term Point Trackingcited by 274
  8. 2024A Survey on Vision-Language-Action Models for Embodied AIcited by 274
  9. 2021Stochastic Scene-Aware Motion Predictioncited by 203
  10. 2024Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AIcited by 175
  11. 2021A Survey of Zero-shot Generalisation in Deep Reinforcement Learningcited by 164
  12. 2024Understanding World or Predicting Future? A Comprehensive Survey of World Modelscited by 161
38 more
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  2. 2023AerialVLN: Vision-and-Language Navigation for UAVscited by 117
  3. 2024Towards Realistic UAV Vision-Language Navigation: Platform, Benchmark, and Methodologycited by 92
  4. 2021Learning to Compose Visual Relationscited by 72
  5. 2024SINGAPO: Single Image Controlled Generation of Articulated Parts in Objectscited by 66
  6. 20253D and 4D World Modeling: A Surveycited by 64
  7. 2022Housekeep: Tidying Virtual Households using Commonsense Reasoningcited by 57
  8. 2024PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigatorscited by 55
  9. 2024GRUtopia: Dream General Robots in a City at Scalecited by 54
  10. 2023Principles and Guidelines for Evaluating Social Robot Navigation Algorithmscited by 52
  11. 2022Exploration via Elliptical Episodic Bonusescited by 51
  12. 2023SPOC: Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real Worldcited by 47
  13. 2022Retrospectives on the Embodied AI Workshopcited by 46
  14. 2025Pure Vision Language Action (VLA) Models: A Comprehensive Surveycited by 46
  15. 2021Unity Perception: Generate Synthetic Data for Computer Visioncited by 43
  16. 2021SECANT: Self-Expert Cloning for Zero-Shot Generalization of Visual Policiescited by 42
  17. 2022NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fieldscited by 41
  18. 2026SAGE: Scalable Agentic 3D Scene Generation for Embodied AIcited by 40
  19. 2023Open-Ended Instructable Embodied Agents with Memory-Augmented Large Language Modelscited by 37
  20. 2021CORA: Benchmarks, Baselines, and Metrics as a Platform for Continual Reinforcement Learning Agentscited by 36
  21. 2021From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligencecited by 35
  22. 2022CASA: Category-agnostic Skeletal Animal Reconstructioncited by 35
  23. 2023Learning Human-to-Robot Handovers from Point Cloudscited by 34
  24. 2021Vision-Language Navigation: A Survey and Taxonomycited by 33
  25. 2024HAZARD Challenge: Embodied Decision Making in Dynamically Changing Environmentscited by 32
  26. 2021Core Challenges in Embodied Vision-Language Planningcited by 30
  27. 2022TIDEE: Tidying Up Novel Rooms using Visuo-Semantic Commonsense Priorscited by 30
  28. 2024Odyssey: Empowering Minecraft Agents with Open-World Skillscited by 26
  29. 2024TANGO: Training-free Embodied AI Agents for Open-world Taskscited by 26
  30. 2023GINA-3D: Learning to Generate Implicit Neural Assets in the Wildcited by 25
  31. 2023NAP: Neural 3D Articulation Priorcited by 25
  32. 20253DLLM-Mem: Long-Term Spatial-Temporal Memory for Embodied 3D Large Language Modelcited by 25
  33. 2023SG-Bot: Object Rearrangement via Coarse-to-Fine Robotic Imagination on Scene Graphscited by 24
  34. 2024AeroVerse: UAV-Agent Benchmark Suite for Simulating, Pre-training, Finetuning, and Evaluating Aerospace Embodied World Modelscited by 24
  35. 2025Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loopcited by 23
  36. 2025DIPO: Dual-State Images Controlled Articulated Object Generation Powered by Diverse Datacited by 21
  37. 2025Particulate: Feed-Forward 3D Object Articulationcited by 20
  38. 2022ViNL: Visual Navigation and Locomotion Over Obstaclescited by 19

50 most cited of 151 All 151 (JSON)

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  1. 2021iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks
  2. 2024RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots
  3. 2025AgentWorld: An Interactive Simulation Platform for Scene Construction and Mobile Robotic Manipulation
  4. 2026Interactive World Simulator for Robot Policy Training and Evaluation
  5. 2026SceneCode: Executable World Programs for Editable Indoor Scenes with Articulated Objects
  6. 2025IGen: Scalable Data Generation for Robot Learning from Open-World Images
  7. 2026SMART: Zero-Shot Sim-to-Real Articulated Object Manipulation via Large-Scale Synthetic Pretraining
  8. 2026SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes