FurnitureBench: Reproducible Real-World Furniture Assembly Benchmark

Paper | Website | Documentation

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

• Polymetis: https://github.com/facebookresearch/polymetis
• BC: Youngwoon's robot-learning repo.
• IQL: https://github.com/ikostrikov/implicit_q_learning
• R3M: https://github.com/facebookresearch/r3m
• VIP: https://github.com/facebookresearch/vip
• Factory: https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/blob/main/docs/factory.md
• OSC controller references: https://github.com/StanfordVL/perls2 and https://github.com/ARISE-Initiative/robomimic