Simulator Asset Inventory Comparison on Embodied AI Simulators Comparison
102,444Number of AssetsUrbanVerse
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| UrbanVerseScenario=Urban, Scene Creation=Real2sim, Physics Engine=IsaacSim, Parallel Training=true, Asset Physics=true2025.10 | 102,444 | — | 659 | 306 | 288 | |
| Habitat 3.0Scenario=Indoor, Scene Creation=Manual, Physics Engine=Bullet, Parallel Training=false, Asset Physics=false2025.10 | 18,656 | 211 | — | — | — | |
| Urban-SimScenario=Urban, Scene Creation=PG, Physics Engine=IsaacSim, Parallel Training=true, Asset Physics=false2025.10 | 15,000 | — | 39 | 1 | 8 | |
| MetaUrbanScenario=Urban, Scene Creation=PG, Physics Engine=Panda3D, Parallel Training=false, Asset Physics=false2025.10 | 10,000 | — | 39 | 1 | 5 | |
| BehaviorScenario=Indoor, Scene Creation=Manual, Physics Engine=PhysX, Parallel Training=true, Asset Physics=true2025.10 | 9,000 | 50 | 1,900 | — | — | |
| AI2-THORScenario=Indoor, Scene Creation=Manual, Physics Engine=Unity, Parallel Training=false, Asset Physics=true2025.10 | 3,578 | 120 | — | — | — | |
| ProcTHORScenario=Indoor, Scene Creation=PG, Physics Engine=Unity, Parallel Training=false, Asset Physics=true2025.10 | 1,633 | — | 108 | — | — | |
| HolodeckScenario=Indoor, Scene Creation=Manual, Physics Engine=Unity, Parallel Training=false, Asset Physics=false2025.10 | 1,633 | — | 108 | — | — | |
| CARLAScenario=Driving, Scene Creation=Manual, Physics Engine=Unreal5, Parallel Training=false, Asset Physics=false2025.10 | 935 | 15 | 106 | 1 | 10 | |
| MetaDriveScenario=Driving, Scene Creation=PG, Physics Engine=Panda3D, Parallel Training=false, Asset Physics=false2025.10 | 5 | — | 5 | 1 | 3 |