FurnitureBench
Description
FurnitureBench includes 5,100 successful real-robot teleoperation demonstrations totaling 219.6 hours across nine furniture configurations and three initialization-randomness levels. A single Franka Panda performs long-horizon grasping, reorientation, insertion, and screwing using wrist and front RGB images, detailed proprioception, 8-D actions, rewards, and skill-completion flags. The standardized physical benchmark and matching FurnitureSim environment support imitation learning, offline reinforcement learning, planning, and reproducible household assembly research.
License
Dataset license not specified. Code: MIT.*
* Double-check the publisher's current license and usage terms before using this dataset.