mlsanityData to 7 Oct 2026

iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks

arXiv 2108.03272 ↗First posted 6 Aug 2021cs.RO cs.AI cs.CVcited by 191

Not on the map. Why?

Cited by 21 in LLM agents and tool use, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Recent research in embodied AI has been boosted by the use of simulation environments to develop and train robot learning approaches. However, the use of simulation has skewed the attention to tasks that only require what robotics simulators can simulate: motion and physical contact. We present iGibson 2.0, an open-source simulation environment that supports the simulation of a more diverse set of household tasks through three key innovations. First, iGibson 2.0 supports object states, including temperature, wetness level, cleanliness level, and toggled and sliced states, necessary to cover a wider range of tasks. Second, iGibson 2.0 implements a set of predicate logic functions that map the simulator states to logic states like Cooked or Soaked. Additionally, given a logic state, iGibson 2.0 can sample valid physical states that satisfy it. This functionality can generate potentially infinite instances of tasks with minimal effort from the users. The sampling mechanism allows our scenes to be more densely populated with small objects in semantically meaningful locations. Third, iGibson 2.0 includes a virtual reality (VR) interface to immerse humans in its scenes to collect demonstrations. As a result, we can collect demonstrations from humans on these new types of tasks, and use them for imitation learning. We evaluate the new capabilities of iGibson 2.0 to enable robot learning of novel tasks, in the hope of demonstrating the potential of this new simulator to support new research in embodied AI. iGibson 2.0 and its new dataset are publicly available at http://svl.stanford.edu/igibson/.

Key facts. Cited by 191 papers in the map (data through 7 Oct 2026). Builds on 22 of its 47 references that are in the map. First posted on arXiv 6 Aug 2021.

Builds on

22 of 47 references.

References · 22

  1. 2018Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actorcited by 4,635
  2. 2019Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learningcited by 1,168
  3. 2019Habitat: A Platform for Embodied AI Researchcited by 1,163
  4. 2019The Replica Dataset: A Digital Replica of Indoor Spacescited by 885
  5. 2017AI2-THOR: An Interactive 3D Environment for Visual AIcited by 850
  6. 2019RLBench: The Robot Learning Benchmark & Learning Environmentcited by 669
  7. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 584
  8. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 501
  9. 2020robosuite: A Modular Simulation Framework and Benchmark for Robot Learningcited by 484
  10. 2018Gibson Env: Real-World Perception for Embodied Agentscited by 477
  11. 2018VirtualHome: Simulating Household Activities via Programscited by 411
  12. 2020ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulationcited by 249
10 more
  1. 2020Rearrangement: A Challenge for Embodied AIcited by 153
  2. 2020SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulationcited by 118
  3. 2021Visual Room Rearrangementcited by 101
  4. 2021ManipulaTHOR: A Framework for Visual Object Manipulationcited by 101
  5. 2019Interactive Gibson Benchmark (iGibson 0.5): A Benchmark for Interactive Navigation in Cluttered Environmentscited by 89
  6. 2021The ThreeDWorld Transport Challenge: A Visually Guided Task-and-Motion Planning Benchmark for Physically Realistic Embodied AIcited by 64
  7. 2019VRKitchen: an Interactive 3D Virtual Environment for Task-oriented Learningcited by 29
  8. 2021OCRTOC: A Cloud-Based Competition and Benchmark for Robotic Grasping and Manipulationcited by 24
  9. 2019The RobotriX: An eXtremely Photorealistic and Very-Large-Scale Indoor Dataset of Sequences with Robot Trajectories and Interactionscited by 14
  10. 2018UnrealROX: An eXtremely Photorealistic Virtual Reality Environment for Robotics Simulations and Synthetic Data Generationcited by 4

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 4; 2022: 25; 2023: 43; 2024: 41; 2025: 48; 2026: 30.

191 papers.

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  1. 2022Objaverse: A Universe of Annotated 3D Objectscited by 1,522
  2. 2022VIMA: General Robot Manipulation with Multimodal Promptscited by 403
  3. 2024RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robotscited by 391
  4. 2022ProcTHOR: Large-Scale Embodied AI Using Procedural Generationcited by 369
  5. 2023UniSim: A Neural Closed-Loop Sensor Simulatorcited by 294
  6. 2021MetaDrive: Composing Diverse Driving Scenarios for Generalizable Reinforcement Learningcited by 281
  7. 2024A Survey on Vision-Language-Action Models for Embodied AIcited by 274
  8. 2023Orbit: A Unified Simulation Framework for Interactive Robot Learning Environmentscited by 239
  9. 2023Diffusion-based Generation, Optimization, and Planning in 3D Scenescited by 237
  10. 2023Habitat 3.0: A Co-Habitat for Humans, Avatars and Robotscited by 220
  11. 2023TidyBot: Personalized Robot Assistance with Large Language Modelscited by 219
  12. 2025EmbodiedBench: Comprehensive Benchmarking Multi-modal Large Language Models for Vision-Driven Embodied Agentscited by 213
38 more
  1. 2021Simple but Effective: CLIP Embeddings for Embodied AIcited by 191
  2. 2024Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AIcited by 175
  3. 2024Agent AI: Surveying the Horizons of Multimodal Interactioncited by 167
  4. 2022Ditto: Building Digital Twins of Articulated Objects from Interactioncited by 152
  5. 2023Infinite Photorealistic Worlds using Procedural Generationcited by 142
  6. 2024BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulationcited by 140
  7. 2023AerialVLN: Vision-and-Language Navigation for UAVscited by 117
  8. 2024PhyScene: Physically Interactable 3D Scene Synthesis for Embodied AIcited by 116
  9. 2024EgoExoLearn: A Dataset for Bridging Asynchronous Ego- and Exo-centric View of Procedural Activities in Real Worldcited by 93
  10. 2025Perception, Reason, Think, and Plan: A Survey on Large Multimodal Reasoning Modelscited by 89
  11. 2023LEGO-Net: Learning Regular Rearrangements of Objects in Roomscited by 75
  12. 2022VLMbench: A Compositional Benchmark for Vision-and-Language Manipulationcited by 68
  13. 2023ARNOLD: A Benchmark for Language-Grounded Task Learning With Continuous States in Realistic 3D Scenescited by 68
  14. 2024SINGAPO: Single Image Controlled Generation of Articulated Parts in Objectscited by 66
  15. 2024PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigatorscited by 55
  16. 2024GRUtopia: Dream General Robots in a City at Scalecited by 54
  17. 2023Principles and Guidelines for Evaluating Social Robot Navigation Algorithmscited by 52
  18. 2022Factory: Fast Contact for Robotic Assemblycited by 49
  19. 2022Learning from Unlabeled 3D Environments for Vision-and-Language Navigationcited by 49
  20. 2023SPOC: Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real Worldcited by 47
  21. 2022Retrospectives on the Embodied AI Workshopcited by 46
  22. 2025A Survey of State of the Art Large Vision Language Models: Alignment, Benchmark, Evaluations and Challengescited by 46
  23. 2025AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real Worldcited by 46
  24. 2025Pure Vision Language Action (VLA) Models: A Comprehensive Surveycited by 46
  25. 2023Ditto in the House: Building Articulation Models of Indoor Scenes through Interactive Perceptioncited by 40
  26. 2023Learning Navigational Visual Representations with Semantic Map Supervisioncited by 40
  27. 2026SAGE: Scalable Agentic 3D Scene Generation for Embodied AIcited by 40
  28. 2025Memory, Benchmark & Robots: A Benchmark for Solving Complex Tasks with Reinforcement Learningcited by 34
  29. 2021Vision-Language Navigation: A Survey and Taxonomycited by 33
  30. 2024HAZARD Challenge: Embodied Decision Making in Dynamically Changing Environmentscited by 32
  31. 2023Distilling Internet-Scale Vision-Language Models into Embodied Agentscited by 30
  32. 2023OCAtari: Object-Centric Atari 2600 Reinforcement Learning Environmentscited by 30
  33. 2024Prioritized Semantic Learning for Zero-shot Instance Navigationcited by 30
  34. 2022DreamingV2: Reinforcement Learning with Discrete World Models without Reconstructioncited by 29
  35. 2025BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activitiescited by 29
  36. 2025Toward Generalizable Evaluation in the LLM Era: A Survey Beyond Benchmarkscited by 26
  37. 2023A Control-Centric Benchmark for Video Predictioncited by 25
  38. 2024An Interactive Agent Foundation Modelcited by 25

50 most cited of 191 All 191 (JSON)

Similar, not cited

Close in wording, no citation either way

  1. 2020iGibson 1.0: a Simulation Environment for Interactive Tasks in Large Realistic Scenes
  2. 2025A Survey: Learning Embodied Intelligence from Physical Simulators and World Models
  3. 2025AgentWorld: An Interactive Simulation Platform for Scene Construction and Mobile Robotic Manipulation
  4. 2026KinDER: A Physical Reasoning Benchmark for Robot Learning and Planning
  5. 2026RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots
  6. 2026When Robots Do the Chores: A Benchmark and Agent for Long-Horizon Household Task Execution
  7. 2025Evaluation of Habitat Robotics using Large Language Models
  8. 2022Housekeep: Tidying Virtual Households using Commonsense Reasoning