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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.
Indexed episode structure
Per-episode numbers RobotData has indexed locally (camera count, DoF, control rate, success rate). "Not indexed yet" means we have not recorded that number — it does not mean the publisher's data lacks observations, state or actions. See the source-backed profile above for what the publisher documents.
3 cameras
7 DoF
10 Hz
72% success
Data modalities
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