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FMB: Functional Manipulation Benchmark
Multi-stage assembly and insertion
UC Berkeley RAIL
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22,550 expert trajectories on a 3D-printed object set for grasping, reorientation, insertion and full multi-stage assembly, with matched simulation assets so imitation and RL results are directly comparable.
Reported structure
Values below come from the dataset's own documentation. Missing fields are shown as not provided rather than estimated.
3 cameras
7 DoF
10 Hz
72% success
Data modalities
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