Dataset · Hugging Face

leggedrobotics/funthor-dataset

Name: funthor-dataset
Creator: leggedrobotics
License: cc-by-4.0
Keywords: language:en, license:cc-by-4.0, size_categories:1K<n<10K, format:imagefolder, modality:image, library:datasets, library:mlcroissant, arxiv:2604.03696, region:us, 3d-scene-graph, functional-scene-understanding, Embodied-AI

FunTHOR 📄 Paper | 🌐 Project Page FunTHOR is a synthetic dataset for functional 3D scene understanding, built on top of the AI2-THOR simulator. It provides part-level ground-truth geometry and dense, rule-based functional-relation annotations (e.g. knife slices apple, handle pulls to open door, stove knob turns on/off burner) for 12 indoor scenes, together with posed RGB-D sequences for each scene. The dataset was introduced as a benchmark in our work on constructing… See the full description on the dataset page: https://huggingface.co/datasets/leggedrobotics/funthor-dataset.

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Author / organization	leggedrobotics
License (as declared)	cc-by-4.0
Downloads	664 (as reported by Hugging Face)
Likes	3
Created	14 June 2026
Last updated at source	14 June 2026

3d-scene-graphfunctional-scene-understandingEmbodied-AI

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