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The IKEA Furniture Assembly Environment is one of the first benchmarks fortesting and accelerating the automation of complex manipulation tasks. Theenvironment is designed to advance reinforcement learning from simple toy tasksto complex tasks requiring both long-term planning and sophisticated low-levelcontrol. Our environment supports over 80 different furniture models, Sawyerand Baxter robot simulation, and domain randomization. The IKEA FurnitureAssembly Environment is a testbed for methods aiming to solve complexmanipulation tasks. The environment is publicly available athttps://clvrai.com/furniture

IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks