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arXiv:2206.11887 [cs.CG]AbstractReferencesReviewsResources

VRKitchen2.0-IndoorKit: A Tutorial for Augmented Indoor Scene Building in Omniverse

Yizhou Zhao, Steven Gong, Xiaofeng Gao, Wensi Ai, Song-Chun Zhu

Published 2022-06-23Version 1

With the recent progress of simulations by 3D modeling software and game engines, many researchers have focused on Embodied AI tasks in the virtual environment. However, the research community lacks a platform that can easily serve both indoor scene synthesis and model benchmarking with various algorithms. Meanwhile, computer graphics-related tasks need a toolkit for implementing advanced synthesizing techniques. To facilitate the study of indoor scene building methods and their potential robotics applications, we introduce INDOORKIT: a built-in toolkit for NVIDIA OMNIVERSE that provides flexible pipelines for indoor scene building, scene randomizing, and animation controls. Besides, combining Python coding in the animation software INDOORKIT assists researchers in creating real-time training and controlling avatars and robotics. The source code for this toolkit is available at, and the tutorial along with the toolkit is available at