ManipulaTHOR: A Framework for Visual Object Manipulation

Figure 1 : We address the problem of visual object manipulation, where the goal is to move an object between two locations in a scene. Operating in visually rich and complex environments, generalizing to unseen environments and objects, avoiding collisions with objects and structures in the scene, and visual planning to reach the destination are among the major challenges of this task. Here, we illustrate a sequence of actions taken a by a virtual robot within the AI2-THOR environment for picking up a vase from the shelf and stack it on a plate on the countertop.