ProcTHOR house sources
These 100 homes use the official MolmoSpaces conversion of ProcTHOR test houses 0–99. Explore their rooms and articulated objects in the browser. The viewer does not run a navigation policy or live physics.
Pinned source and attribution
Scene and THOR models by the Allen Institute for AI (Ai2), licensed under CC BY 4.0. The pinned upstream licensing helper distinguishes scene composition and referenced model licences.
Browser display is adapted; the source scene XML remains unchanged.
- MolmoSpaces source code:
735138876887eb64650742631b8dda841dd264bf. - House 0 archive:
20251121_with_occupancy; THOR objects:20251117. - Archive and member hashes · Derived scene registry · Reproduction instructions.
What the evidence establishes
All 100 converted scenes compile in MuJoCo 3.5.0. Their native references contain 21,229 body frames, 25,156 group-0 visual shapes and 6,520 joints, including free joints.
House 0 has 294 visual shapes, 19 scalar joints and 49 free object bodies.
Browser body frames are compared with the converted native scenes. Compilation, rendering and joint inspection are not successful task execution.
The archive's input house JSON matches the original ProcTHOR test house 0.
Converted geometry and object placement differ from AI2-THOR 5.0.0: a separate surface-bounds comparison found 61 of 75 comparable object assemblies within 1 cm, with fourteen farther apart.
Two CD native captures contained no vertices. This conversion does not establish identical simulator dynamics.
The asset lock covers 18,000 selected files across 100 distinct scene XMLs. Shared object assets are stored once. File counts, object instances and room counts are not additional worlds.
No robot model, Gym task, evaluation score or successful trajectory is attributed to these scenes.
Recorded RB-Y1 navigation
| Capability | RB-Y1 navigation recording |
|---|---|
| Inspect scene | Available |
| Replay recording | Recorded states |
| Live browser physics | Not available |
| Native task success | One selected goal reached; repeated exactly |
| Suite evaluation | Not reported |
Navigate to the candle adds a robot-bound recording in existing test house 0. The source NavToObjTask requires planar distance below 1.5 m and visibility from the robot head camera.
The native goal first succeeds at step 111; the source A* planner later exhausts return-waypoint retries and terminates at step 211. Both facts remain in the recording.
This selected example and its exact local repeat are not a success rate or learned-policy evaluation.
The source preset uses RB-Y1 with virtual holonomic base joints. It does not establish wheel-level hardware dynamics. Its 274 bodies and 2,948 geometries include the existing complete house.
The viewer draws 374 source visual shapes in groups 0 and 2; collision geometry and invisible robot spheres remain in the source model. It displays recorded states and does not run native physics.
R2 · Navigation evidence: two execution receipts, source/asset seals and complete native pose checks · task registry · reproduction and limits.
Body replay poses are recomputed from post-step joint state in separate native data; original task body arrays and success checks are retained.
The earlier seed0 countertop diagnostic failed. Physical phones are deferred; desktop acceptance is recorded separately.
Robot geometry loads directly from Rainbow Robotics at the pinned commit. All 1,112 referenced robot assets match the native source files byte for byte.
Rainbow Robotics copyright 2024–2025; Apache 2.0 licence. House/THOR assets remain Ai2 CC BY 4.0.
The derived inspection XML repairs serialization and retains native body-frame precision; rounded physics parameters make it unsuitable as a replacement simulator model.