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MansionWorld
MansionWorld is a large-scale multi-floor indoor scene dataset for embodied AI research, built on top of the AI2-THOR simulator.
Key Features
- 1,000 interactive multi-floor buildings with 2–10 floors each
- 10,000+ rooms in total across all buildings
- Diverse building types: Residential (50%), Office (30%), Public (20%)
Download
The dataset is provided as zip archives for easier downloading:
| File | Size | Description |
|---|---|---|
mansionworld.zip |
~2.9 GB | All 1,000 building scenes |
mansion_patch.zip |
~789 MB | Additional assets (elevators, stairs, etc.) |
Dataset Structure
After extracting mansionworld.zip:
mansionworld/
├── {building_type}_{floors}f_{area}_fp{id}#{variant}/
│ ├── floor_1.json # Floor configuration (doors, walls, objects, rooms)
│ ├── floor_1.png # Floor plan visualization
│ ├── floor_2.json
│ ├── floor_2.png
│ └── ...
└── ...
Building Naming Convention
Example: office_corporate_hq_6f_300_fp001#1
office_corporate_hq: Building type (office - corporate headquarters)6f: Number of floors (6 floors)300: Approximate floor area (m²)fp001: Floorplan template ID#1: Variant index
Usage
Coming soon: Code examples for loading MansionWorld scenes in AI2-THOR.
Links
- Paper: Coming soon
- GitHub: Coming soon
License
This dataset is released under the CC BY 4.0 License.
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