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FurnitureBench: Reproducible Real-World Furniture Assembly Benchmark

Paper | Website | Documentation

FurnitureBench

FurnitureBench is the real-world furniture assembly benchmark, which aims at providing a reproducible and easy-to-use platform for long-horizon complex robotic manipulation.

It features

  • Long-horizon complex manipulation tasks
  • Standardized environment setup
  • Python-based robot control stack
  • FurnitureSim: a simulated environment
  • Large-scale teleoperation dataset (200+ hours)

Please check out our website for more details.

FurnitureBench

We elaborate on the real-world environment setup guide and tutorials in our online document.

FurnitureSim

FurnitureSim is a simulator based on Isaac Gym. FurnitureSim works on Ubuntu and Python 3.8+. Please refer to Installing FurnitureSim and How to Use FurnitureSim for more details about FurnitureSim.

Citation

If you find FurnitureBench useful for your research, please cite this work:

@inproceedings{heo2023furniturebench,
    title={FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation},
    author={Minho Heo and Youngwoon Lee and Doohyun Lee and Joseph J. Lim},
    booktitle={Robotics: Science and Systems},
    year={2023}
}

References