ToyBlocks: A controlled world for robot learning and evaluation

Ai2 introduces FoundationWorlds, a framework pairing controlled simulated environments with tools for automatically generating tasks, demonstrations, and behavioral metrics, starting with ToyBlocks, an open simulation of a robot arm manipulating blocks on a tabletop. ToyBlocks generates demonstrations via reinforcement learning, motion planning, and a task-and-motion planner at up to 24 times real-time on a single GPU, and supports studies of data scaling, spatial generalization, long-horizon planning, world models, and sim-to-real transfer. The initial release includes 85,336 long-horizon demonstrations covering nearly 1,600 hours and 144 million frames, plus two trained models, training code, and evaluation code and validation sets.