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ReleaseNotes_3.0.md

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AI2-THOR Version 3.0.0 Release Notes

IMPORTANT NOTICE

Note that AI2-THOR 3.0.0 is not fully backwards compatible with previous versions due to updates and reworked architecture in the framework.

ManipulaTHOR

ManipulaTHOR is a new environment within the AI2-THOR framework that facilitates visual manipulation of objects using a robotic arm.

Included with ManipulaTHOR is a range of new actions specific to arm manipulation:

  • MoveArm - Uses inverse kinematics to manipulate the position of the robot arm's grasper.
  • MoveArmBase - Adjusts the height of the arm by moving the base up and down.
  • PickupObject - Picks up SimObjects with the arm's grasper.
  • ReleaseObject - Drops any SimObjects picked up by the arm's grasper.
  • SetHandSphereRadius - Adjust the radius of the arm's grasper.
  • MoveContinuous - A new continuous movement that allows the arm to detect collisions while moving through a scene.
  • RotateContinuous - A new continuous rotation that allows the arm to detect collisions while rotating within a scene.

The full details can be found in the ManipulaTHOR Documentation here.

Environmental Lighting Randomization

A new RandomizeLighting action has been added. This action allows a range of lighting changes across the iTHOR, RoboTHOR, and ManipulaTHOR environments to add more variation to a scene. RandomizeLighting has the following options to control how the light is randomized across a scene:

  • synchronized - Denotes if all lights should be multiplied by the same random intensity and be randomized to the same color. When false, each light object is randomized independantly.
  • brightness - Set the bounds with which light intensity is multiplied by.
  • randomizeColor - Specifies if the color of light should be randomized, or if only the intensity should be randomized.
  • hue - Provides a range of possible hue values for a light's color.
  • saturation - Provides a range of possible saturation values for a light's color.

Screenspace RayCast Coordinate Query

image

A new GetCoordinateFromRaycast action has been added. For a given (x, y) point in the agent's camera frame, it returns the global coordinate of the location where that RayCast hit some object.

Updated Actions

The following actions have been updated as follows:

  • LookUp/LookDown/RotateRight/RotateLeft - Improved logic to account for more precise collisions when an agent is holding an object while rotating.
  • GetReachablePositions - Now enables getting positions relative to the agent rather than world coordinates.
  • SetObjectPoses - Adds a placeStationary flag to this action that allows objects to be repositioned with kinematics set to true, preventing additional physics resolution after repositioning.
  • GetObjectInFrame - Adds a new checkVisible param that when true will cause this action to perform an additional check if an object hit is not only within the frame, but also visible to the agent. Note that not all objects in frame are visible to the agent as they could be occluded or out of maxVisibleDistance range.
  • PutObject - A new param putNearXY has been added, allowing the distance from the point hit by the RayCast to act as a heuristic for choosing where an object is placed within/on a receptacle. This allows more precise placement of objects in/on receptacles via (x,y) screenspace coordinates.

Updated Metadata

  • objectOrientedBoundingBox - All pickupable and moveable objects now have object oriented bounding boxes. Additionally, these object oriented bounds are now dynamically generated to account for state changes of some objects, like a book that can be closed or open.

Updated Documentation

Documentation on the AI2-THOR website has been expanded to detail all functionality of this update.