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

arXiv: https://arxiv.org/abs/2108.03272 · HTML: https://mlsanity.com/paper/2108.03272/

## Key facts

- Cited by 194 papers in the map (data through 14 Oct 2026).
- Builds on 22 of its 47 references that are in the map.
- First posted on arXiv 6 Aug 2021.

## Builds on (most cited first, 22 of 22)

- [Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor](https://mlsanity.com/paper/1801.01290/) (2018)
- [Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning](https://mlsanity.com/paper/1910.10897/) (2019)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [RLBench: The Robot Learning Benchmark & Learning Environment](https://mlsanity.com/paper/1909.12271/) (2019)
- [SAPIEN: A SimulAted Part-based Interactive ENvironment](https://mlsanity.com/paper/2003.08515/) (2020)
- [robosuite: A Modular Simulation Framework and Benchmark for Robot Learning](https://mlsanity.com/paper/2009.12293/) (2020)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [Gibson Env: Real-World Perception for Embodied Agents](https://mlsanity.com/paper/1808.10654/) (2018)
- [VirtualHome: Simulating Household Activities via Programs](https://mlsanity.com/paper/1806.07011/) (2018)
- [ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulation](https://mlsanity.com/paper/2007.04954/) (2020)
- [Rearrangement: A Challenge for Embodied AI](https://mlsanity.com/paper/2011.01975/) (2020)
- [SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation](https://mlsanity.com/paper/2011.07215/) (2020)
- [Visual Room Rearrangement](https://mlsanity.com/paper/2103.16544/) (2021)
- [ManipulaTHOR: A Framework for Visual Object Manipulation](https://mlsanity.com/paper/2104.11213/) (2021)
- [Interactive Gibson Benchmark (iGibson 0.5): A Benchmark for Interactive Navigation in Cluttered Environments](https://mlsanity.com/paper/1910.14442/) (2019)
- [The ThreeDWorld Transport Challenge: A Visually Guided Task-and-Motion Planning Benchmark for Physically Realistic Embodied AI](https://mlsanity.com/paper/2103.14025/) (2021)
- [VRKitchen: an Interactive 3D Virtual Environment for Task-oriented Learning](https://mlsanity.com/paper/1903.05757/) (2019)
- [OCRTOC: A Cloud-Based Competition and Benchmark for Robotic Grasping and Manipulation](https://mlsanity.com/paper/2104.11446/) (2021)
- [The RobotriX: An eXtremely Photorealistic and Very-Large-Scale Indoor Dataset of Sequences with Robot Trajectories and Interactions](https://mlsanity.com/paper/1901.06514/) (2019)
- [UnrealROX: An eXtremely Photorealistic Virtual Reality Environment for Robotics Simulations and Synthetic Data Generation](https://mlsanity.com/paper/1810.06936/) (2018)

## Built on by (most cited first, 30 of 194)

- [Objaverse: A Universe of Annotated 3D Objects](https://mlsanity.com/paper/2212.08051/) (2022)
- [VIMA: General Robot Manipulation with Multimodal Prompts](https://mlsanity.com/paper/2210.03094/) (2022)
- [RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots](https://mlsanity.com/paper/2406.02523/) (2024)
- [ProcTHOR: Large-Scale Embodied AI Using Procedural Generation](https://mlsanity.com/paper/2206.06994/) (2022)
- [UniSim: A Neural Closed-Loop Sensor Simulator](https://mlsanity.com/paper/2308.01898/) (2023)
- [Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments](https://mlsanity.com/paper/2301.04195/) (2023)
- [MetaDrive: Composing Diverse Driving Scenarios for Generalizable Reinforcement Learning](https://mlsanity.com/paper/2109.12674/) (2021)
- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [Diffusion-based Generation, Optimization, and Planning in 3D Scenes](https://mlsanity.com/paper/2301.06015/) (2023)
- [Habitat 3.0: A Co-Habitat for Humans, Avatars and Robots](https://mlsanity.com/paper/2310.13724/) (2023)
- [TidyBot: Personalized Robot Assistance with Large Language Models](https://mlsanity.com/paper/2305.05658/) (2023)
- [EmbodiedBench: Comprehensive Benchmarking Multi-modal Large Language Models for Vision-Driven Embodied Agents](https://mlsanity.com/paper/2502.09560/) (2025)
- [Simple but Effective: CLIP Embeddings for Embodied AI](https://mlsanity.com/paper/2111.09888/) (2021)
- [Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI](https://mlsanity.com/paper/2407.06886/) (2024)
- [Agent AI: Surveying the Horizons of Multimodal Interaction](https://mlsanity.com/paper/2401.03568/) (2024)
- [Ditto: Building Digital Twins of Articulated Objects from Interaction](https://mlsanity.com/paper/2202.08227/) (2022)
- [BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation](https://mlsanity.com/paper/2403.09227/) (2024)
- [Infinite Photorealistic Worlds using Procedural Generation](https://mlsanity.com/paper/2306.09310/) (2023)
- [PhyScene: Physically Interactable 3D Scene Synthesis for Embodied AI](https://mlsanity.com/paper/2404.09465/) (2024)
- [AerialVLN: Vision-and-Language Navigation for UAVs](https://mlsanity.com/paper/2308.06735/) (2023)
- [EgoExoLearn: A Dataset for Bridging Asynchronous Ego- and Exo-centric View of Procedural Activities in Real World](https://mlsanity.com/paper/2403.16182/) (2024)
- [Perception, Reason, Think, and Plan: A Survey on Large Multimodal Reasoning Models](https://mlsanity.com/paper/2505.04921/) (2025)
- [LEGO-Net: Learning Regular Rearrangements of Objects in Rooms](https://mlsanity.com/paper/2301.09629/) (2023)
- [ARNOLD: A Benchmark for Language-Grounded Task Learning With Continuous States in Realistic 3D Scenes](https://mlsanity.com/paper/2304.04321/) (2023)
- [SINGAPO: Single Image Controlled Generation of Articulated Parts in Objects](https://mlsanity.com/paper/2410.16499/) (2024)
- [VLMbench: A Compositional Benchmark for Vision-and-Language Manipulation](https://mlsanity.com/paper/2206.08522/) (2022)
- [GRUtopia: Dream General Robots in a City at Scale](https://mlsanity.com/paper/2407.10943/) (2024)
- [PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators](https://mlsanity.com/paper/2406.20083/) (2024)
- [Principles and Guidelines for Evaluating Social Robot Navigation Algorithms](https://mlsanity.com/paper/2306.16740/) (2023)
- [Factory: Fast Contact for Robotic Assembly](https://mlsanity.com/paper/2205.03532/) (2022)

## 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/.