MINOS: Multimodal Indoor Simulator

MINOS is a simulator designed to support the development of multisensory models for goal-directed navigation in complex indoor environments. MINOS leverages large datasets of complex 3D environments and supports flexible configuration of multimodal sensor suites.

 

Demos

MINOS provides both a Python API for training end-to-end navigation agents, and a web client API for crowdsourcing, visualization and debugging.

Try our live web demos:

Use the I/J/K/L keys to step and turn, the arrow keys to strafe and look up or down, the R key to respawn, and the O key to update the agent observations panel on the right.

Download

The MINOS source code is available at https://github.com/minosworld/minos.

For synthetic scenes, we use environments from SUNCG, a dataset with over 45,000 scenes. Please sign the terms of use for SUNCG and send the form to suncgteam@googlegroups.com, indicating use with MINOS, to request access to the dataset.

For reconstructed scenes, we use environments from Matterport3D, a dataset with 90 multi-floor houses containing 2000 room regions. Please sign the terms of use for Matterport3D and send them to matterport3d@googlegroups.com, indicating use with MINOS, to request access to the dataset.

Paper

If you use MINOS please cite our technical report:

@article{savva2017minos,
  author = {Manolis Savva and Angel X. Chang and Alexey Dosovitskiy and Thomas Funkhouser and Vladlen Koltun},
  title = {{MINOS}: Multimodal Indoor Simulator for Navigation in Complex Environments},
  journal = {arXiv:1712.03931},
  year = {2017}
}