An Interactive 3D Virtual Environment for Task-oriented Learning


Out goal is to enable better learning of autonomous agents for tasks with compositional goals and rich object state changes. To this end, we have designed VRKitchen, an interactive 3D virtual kitchen environment which provides a platform for training and evaluating various learning and planning algorithms in a variety of cooking tasks. With the help of virtual reality device, human users serve as teachers for the agents by providing demonstrations in the virtual environment.


Physical Simulation

VR Interface

Python API

VR Chef Challenge

We propose the VR chef challenge consisting of two sets of cooking tasks:

Tool Use: requires an agent to continuously control its hands to make use of a tool.

Preparing dishes: agents must perform a series of atomic actions in the right order to achieve a compositional goal.

Environment Statistics

16 kitchens

4 characters

18 object state changes

5 dishes


Xiaofeng Gao

Ran Gong

Tianmin Shu

Xu Xie

Shu Wang

Song-Chun Zhu




Coming soon.

Coming soon.



archivePrefix = {arXiv},
arxivId = {1903.05757},
author = {Gao, Xiaofeng and Gong, Ran and Shu, Tianmin and Xie, Xu and Wang, Shu and Zhu, Song-Chun},
title = {VRKitchen: an Interactive 3D Virtual Environment for Task-oriented Learning},
url = {http://arxiv.org/abs/1903.05757},
year = {2019}

Press Coverage


The work reported herein is supported by DARPA XAI N66001-17-2-4029 and ONR MURI N00014-16-1-2007.