---
license: cc-by-4.0
task_categories:
  - robotics
tags:
  - embodied-ai
  - simulation
  - 3d-scene
  - ai2thor
  - multi-floor
  - indoor-environment
pretty_name: MansionWorld
size_categories:
  - 1K<n<10K
extra_gated_prompt: >-
  By accessing this dataset, you agree to use it for research purposes only
  and to cite the associated paper in any publications.
extra_gated_fields:
  Name: text
  Affiliation: text
  Purpose of use: text
  I agree to use this dataset for non-commercial research purposes only: checkbox
---

# MansionWorld

<p align="center">
  <img src="teaser.png" width="100%" />
</p>

**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%)


<p align="center">
  <img src="mansionworld_dataset.png" width="80%" />
</p>

## 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](https://creativecommons.org/licenses/by/4.0/).