IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks

November 17, 2019 ยท Declared Dead ยท ๐Ÿ› IEEE International Conference on Robotics and Automation

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Authors Youngwoon Lee, Edward S. Hu, Zhengyu Yang, Alex Yin, Joseph J. Lim arXiv ID 1911.07246 Category cs.RO: Robotics Cross-listed cs.AI, cs.CV, cs.LG Citations 142 Venue IEEE International Conference on Robotics and Automation Last Checked 3 months ago
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
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