FurnitureBench
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.
Source notes
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.
- Scale
- 219.6 hours
- Formats
- custom
- License
- MIT
- Published
- 2023-05-22
Decision summary
teleoperation
Metadata requires review against the official source before publication.
Read the dataset manifest and feature schema.
Release history
Source-backed release timing for this canonical dataset record.
- Release evidence
Dataset series published
Release timing is recorded from official dataset metadata.
Selection readiness
6 evidence dimensions for deciding whether this dataset is ready to inspect, compare, or adopt. This is not a model benchmark.
Catalog evidence · not task performance
70/100
Provisional
3/6 dimensions scored · 42% confidence
Read the evidence behind all 6 dimensions
Access and governance
Access and license are declared by the source.
Schema and signal coverage
No machine-readable schema has been verified yet.
Policy training readiness
Observation and action/state signals are declared; alignment quality still depends on sample verification.
World-model readiness
World-model observation, geometry, or temporal semantics are not verified.
Failure and recovery readiness
No verified failure/recovery annotation evidence is available yet.
Download and processing readiness
Scale is declared; transfer and processing estimates are not measured.
Review unresolved evidence and next checks
Signal gaps
- Gaze / attention. Not enough evidence is available to classify this signal.
- Feedback / correction / failure. Not enough evidence is available to classify this signal.
Next checks
- Read the dataset manifest and feature schema.
- Run a bounded sample audit before assigning Strong readiness.
Dataset facts
- Source
- CLVR Lab, KAIST
- Evidence
- secondary claim
- Formats
- custom
- episodes
- 5,100
- hours
- 219.6
- tasks
- 9
Loop signals
5/7 present or partial
No decision-grade evidence captured yet.
unknownNo decision-grade evidence captured yet.
unknownView 5 more signal categories
video · 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.
presentee_pose · 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.
presenthas-success-labels · 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.
partialsimulation · 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.
presentOpen · MIT · custom
partialEvidence details and provenance
Official signal claims
Schema and annotations
No machine-readable schema facts are captured.
Sample verification
Pending. Metadata does not prove sample coverage, alignment, or file integrity.
curated official source
Integration notes
- Metadata requires review against the official source before publication.