IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks
This provides a testbed for researchers in robotics and AI to tackle long-horizon manipulation problems, though it is incremental as it builds on existing simulation environments.
The paper introduces the IKEA Furniture Assembly Environment, a benchmark for automating complex manipulation tasks, featuring over 80 furniture models and robot simulations to advance reinforcement learning beyond simple tasks.
The IKEA Furniture Assembly Environment is one of the first benchmarks for testing and accelerating the automation of complex manipulation tasks. The environment is designed to advance reinforcement learning from simple toy tasks to complex tasks requiring both long-term planning and sophisticated low-level control. Our environment supports over 80 different furniture models, Sawyer and Baxter robot simulation, and domain randomization. The IKEA Furniture Assembly Environment is a testbed for methods aiming to solve complex manipulation tasks. The environment is publicly available at https://clvrai.com/furniture