IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks

TL;DR

The paper introduces the IKEA Furniture Assembly Environment, a comprehensive benchmark designed to facilitate research in complex robotic manipulation tasks involving long-term planning and diverse furniture models.

Contribution

It presents one of the first standardized environments for testing complex manipulation, supporting multiple robots and extensive domain randomization to accelerate reinforcement learning research.

Findings

Supports over 80 furniture models

Enables testing with Sawyer and Baxter robots

Facilitates research in long-horizon manipulation tasks

Abstract

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