FurnitureBench
CLVR Lab, KAIST · 2023 · datasets.bot · datasets.bot page
One-liner. Real-world long-horizon furniture assembly benchmark with 5100 Franka teleop demos (219.6h) plus FurnitureSim.
Setup
- Datasets / benchmarks: FurnitureBench is a reproducible real-world benchmark from CLVR Lab (KAIST) for long-horizon, complex robotic manipulation framed as furniture assembly with a Franka Panda arm. It releases 5100 successful teleoperation demonstrations totaling 219.6 hours across 9 furniture models and three task-initialization randomness levels (low/medium/high). The released demonstration files contain two RGB camera streams (wrist and front, 224x224x3) plus proprioceptive robot state; the physical rig additionally supports rear and RGBD/depth sensing. It also ships FurnitureSim, an Isaac Gym/Factory-based simulator, plus 3D-printable furniture models and a standardized environment setup. License: MIT. Download: https://drive.google.com/drive/folders/1j59vFmgBsatu1PZK52HWX_9o5BCh_XDt?usp=sharing.
- Hardware / simulator: Embodiment: franka_panda. Environment: lab, simulation, tabletop. Realness: both.
Schema
demonstration (.pkl) -> {furniture, observations:[{color_image1 (wrist 224x224x3), color_image2 (front 224x224x3), robot_state:{ee_pos, ee_quat, ee_pos_vel, ee_ori_vel, gripper_width, joint_positions, joint_velocities, joint_torques}}], actions:[8-D], rewards, skills}
Links