lglez8282024cc-by-nc-4.0
UniPhys-Bench
A human-verified benchmark of 1,927 heterogeneous articulated 3D objects that jointly evaluates articulation semantics, structure, part-level physical properties, and object-level scale and mass for simulation-ready assets.
Downloads14
Episodes1927
Why This Matters for Physical AI
UniPhys-Bench provides a large-scale benchmark of physically grounded 3D articulated objects with detailed semantic and kinematic annotations essential for training embodied AI systems to understand and interact with complex articulated environments.
Technical Profile
- Modalities
- 3d_meshpart_segmentationaffordance_labels
- Environment
- simulation
- Task Types
- articulation_understandingphysical_property_groundingpart_decompositionmanipulation
- Episodes
- 1927
- Annotation Types
- part_segmentationaffordance_labelskinematic_parametersphysical_propertiesarticulation_structurejoint_typejoint_axisjoint_pivotmotion_rangematerial_propertiesmassdimensions
- License
- cc-by-nc-4.0
Access
Need custom 3d_mesh data?
Claru builds purpose-built datasets for simulation applications with dense human annotations and quality assurance.
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