| --- |
| pretty_name: AssemblyBench |
| configs: |
| - config_name: default |
| data_files: |
| - split: full |
| path: data/*.parquet |
| --- |
| # AssemblyBench |
|
|
| 2,789 assemblies, 18,687 normalized source part meshes and |
| 130,853 embedded PNGs, with multimodal manuals, poses and complete motions. |
| One assembly per row. All payloads are embedded in Parquet. |
|
|
| ```python |
| from datasets import load_dataset |
| objects = load_dataset("AssemblyWorld/assemblybench", split="all") |
| sample = objects[0] |
| ``` |
|
|
| Requires datasets >= 5.0.1 and Pillow. Pin `revision` for reproducibility; use the |
| prepared local directory instead of the Hub ID for offline loading. |
|
|
| ## Contents and coordinates |
|
|
| - `parts`: source IDs, names, float64 vertices, polygons, normals, corner normal |
| indices and similar-part IDs. Meshes are the supplied **objs_normalized**. |
| - `assembly_order`, `steps`: original order, cumulative part IDs and indices into |
| `manual` and `manual_pages`. |
| - `manual`: original JSON records, including original shape IDs and every text |
| detail level. Missing optional descriptions stay absent; no embeddings are stored. |
| - `poses`: original view/step/part JSON mapping, preserving all source values. |
| - `motions`: per-part `frames`, preserving the full original sequence of poses. |
| - `manual_pages`: all diagram and arrow PNGs, source filenames, dimensions, kind, |
| view and step IDs. PNG bytes are unchanged and decode to PIL images. |
| - `source_splits`, `source_metadata`: original membership and provenance. |
| |
| We do not transform the supplied geometry. Upstream generation centers, PCA-aligns |
| and scales part meshes. Both poses and motion frames use |
| `[tx, ty, tz, qw, qx, qy, qz]`: apply quaternion rotation to a source mesh vertex, |
| then add translation to obtain its position in the source world frame. The source |
| provides pose view `"0"`; do not infer poses for the additional image views. |
| No physical unit conversion is assumed. Motions are indexed frames, not timestamped |
| robot commands. In this release each part has 12 frames. |
| |
| The source image folders include extra PNGs beyond the regular step/view grid. |
| They are retained with their original filenames; an unparseable filename has null |
| view/step IDs, and pages outside the assembly step range have no step reference. |
| No page numbers or geometry are repaired. Source point clouds, masks, embeddings, |
| checkpoints, the unrelated point-cloud screenshot in object 8005, and macOS |
| metadata are excluded. |
| |
| ## Splits |
| |
| The stored split is `full`; `all` selects it. `source_splits` preserves the official |
| partition: train 2,231, val 278, test 280. Filter using `source_splits`; no new |
| random split is created. |
| |
| ## Source and rights |
| |
| Converted from [AssemblyBench v1](https://zenodo.org/records/19742725), archive SHA-256 |
| `8f46d59dc7692822043efa28de77f98996aa736b76a97982d51c255ea6c06c5b`. See [official code](https://github.com/merlresearch/AssemblyBench) |
| revision `a1ed6b8b70b963fc582744ae06eaad4de5633cfa` for coordinate conventions. New annotations and |
| modifications are CC BY-SA 4.0, copyright MERL 2026. Original Assemble-Them-All data |
| retains its MIT terms and underlying Fusion 360 Gallery assets retain their source |
| restrictions. This is a converted portion/modified set of the Fusion 360 Gallery |
| Dataset, not the complete original Gallery Dataset. Underlying asset access, use, |
| modification and redistribution are limited to **non-commercial research** under |
| [the Fusion 360 Gallery Dataset License](https://github.com/AutodeskAILab/Fusion360GalleryDataset/blob/master/LICENSE.md). |
| Those terms apply to downstream recipients and redistribution, including retained |
| notices, Autodesk warranty exclusions and indemnification obligations. The |
| annotation license does not remove underlying asset restrictions. The converter's |
| MIT code license does not relicense these assets. |
| This release changes storage format and embeds the selected source assets. |
|
|
| Please cite Li, Zhang, Egger, Chatterjee, Lohit, Marks and Cherian, |
| *AssemblyBench: Physics-Aware Assembly of Complex Industrial Objects*, CVPR 2026. |
| Schema version 1; conversion version 1. |
|
|
