IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks [article]

Youngwoon Lee, Edward S. Hu, Zhengyu Yang, Alex Yin, Joseph J. Lim
<span title="2019-11-17">2019</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
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
more &raquo; ... thods aiming to solve complex manipulation tasks. The environment is publicly available at https://clvrai.com/furniture
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1911.07246v1">arXiv:1911.07246v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/no2etocu25azpg2ejkmpq4trde">fatcat:no2etocu25azpg2ejkmpq4trde</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200823233617/https://arxiv.org/pdf/1911.07246v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/da/18/da18109d2725757842c5b5bca85025f23677f323.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1911.07246v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>