English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

We present iGibson 1.0, a novel simulation environment to develop roboticsolutions for interactive tasks in large-scale realistic scenes. Ourenvironment contains 15 fully interactive home-sized scenes with 108 roomspopulated with rigid and articulated objects. The scenes are replicas ofreal-world homes, with distribution and the layout of objects aligned to thoseof the real world. iGibson 1.0 integrates several key features to facilitatethe study of interactive tasks: i) generation of high-quality virtual sensorsignals (RGB, depth, segmentation, LiDAR, flow and so on), ii) domainrandomization to change the materials of the objects (both visual and physical)and/or their shapes, iii) integrated sampling-based motion planners to generatecollision-free trajectories for robot bases and arms, and iv) intuitivehuman-iGibson interface that enables efficient collection of humandemonstrations. Through experiments, we show that the full interactivity of thescenes enables agents to learn useful visual representations that acceleratethe training of downstream manipulation tasks. We also show that iGibson 1.0features enable the generalization of navigation agents, and that thehuman-iGibson interface and integrated motion planners facilitate efficientimitation learning of human demonstrated (mobile) manipulation behaviors.iGibson 1.0 is open-source, equipped with comprehensive examples anddocumentation. For more information, visit our project website:http://svl.stanford.edu/igibson/

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