FurnitureBench
Real-world long-horizon furniture assembly benchmark with 5100 Franka teleop demos (219.6h) plus FurnitureSim.
| Year | 2023 |
|---|---|
| Episodes | 5,100 |
| Total hours | 220 |
| Embodiments | franka_panda |
| Modalities | ee_pose, proprioception, rgb |
| Task categories | manipulation |
| License | MIT |
| Access | open — commercial use permitted |
| Maintainer | CLVR Lab, KAIST |
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.