CLARU
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FIRM: A Benchmark for Industrial Flexible-Object Robot Manipulation

FIRM is a benchmark for industrial flexible-object robot manipulation grounded in real-world industrial data, featuring expert teleoperation demonstrations of mixed-stiffness objects including instruction manuals, power cables, sponge pads, tapes, and cardboard components. The benchmark supports offline policy training and evaluation using a Deformation-aware Assessment Protocol (DAP) with metrics beyond binary success.

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Technical Profile

Modalities
rgbdepthproprioception
Environment
labindustrial
Task Types
manipulationgraspinginsertioncable_routingbox_foldingplacementdeformable_object_manipulation
Data Format
LeRobot
License
cc-by-4.0
Part of the FIRM: A Benchmark for Industrial Flexible-Object Robot Manipulation family

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