Habitat 2.0: Training home assistants to rearrange their habitat

The Habitat 2.0 simulation platform is for training virtual robots in interactive, physics-enabled 3D environments. We present the new ReplicaCAD 3D data set of apartments; the Habitat 2.0 simulator, capable of simulating 850x faster than real time; and the Home Assistant Benchmark, a suite of common tasks for assistive robots.