Functional Manipulation Benchmark (FMB)
Description
FMB provides 22,550 human demonstrations collected with a Franka Panda across single-object and multi-object functional assembly tasks. The robot must grasp procedurally designed parts, reorient or regrasp them using a fixture, and perform precise insertion or sequential assembly under varied geometry, appearance, and initial poses. Four RGB-D views, robot kinematics, end-effector force/torque, object metadata, and camera intrinsics support point-cloud processing, imitation learning, and controlled generalization studies.
License
Dataset license not specified.*
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