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IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks

arXiv 1911.07246 ↗First posted 17 Nov 2019cs.RO cs.AI cs.CVcited by 68

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Abstract (arXiv)

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

Key facts. Cited by 68 papers in the map (data through 7 Oct 2026). First posted on arXiv 17 Nov 2019.

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Citing papers per year: 2019: 1; 2020: 0; 2021: 9; 2022: 13; 2023: 9; 2024: 17; 2025: 12; 2026: 7.

68 papers.

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  1. 2021BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environmentscited by 161
  2. 2023FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulationcited by 132
  3. 2024HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulationcited by 101
  4. 2024From Imitation to Refinement -- Residual RL for Precise Assemblycited by 80
  5. 2021JoinABLe: Learning Bottom-up Assembly of Parametric CAD Jointscited by 77
  6. 2022Can Foundation Models Perform Zero-Shot Task Specification For Robot Manipulation?cited by 70
  7. 2025RoboArena: Distributed Real-World Evaluation of Generalist Robot Policiescited by 63
  8. 2022Skill-based Model-based Reinforcement Learningcited by 50
  9. 2022Factory: Fast Contact for Robotic Assemblycited by 49
  10. 2025AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real Worldcited by 46
  11. 2021Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularizationcited by 44
  12. 2022Neural Shape Mating: Self-Supervised Object Assembly with Adversarial Shape Priorscited by 42
38 more
  1. 2021CORA: Benchmarks, Baselines, and Metrics as a Platform for Continual Reinforcement Learning Agentscited by 36
  2. 2024RL-GPT: Integrating Reinforcement Learning and Code-as-policycited by 32
  3. 2024DiffAssemble: A Unified Graph-Diffusion Model for 2D and 3D Reassemblycited by 31
  4. 2024BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmarkcited by 30
  5. 2023Leveraging SE(3) Equivariance for Learning 3D Geometric Shape Assemblycited by 27
  6. 2023Universal Visual Decomposer: Long-Horizon Manipulation Made Easycited by 23
  7. 2023IKEA-Manual: Seeing Shape Assembly Step by Stepcited by 22
  8. 2023Category-Level Multi-Part Multi-Joint 3D Shape Assemblycited by 22
  9. 2024Mamba Policy: Towards Efficient 3D Diffusion Policy with Hybrid Selective State Modelscited by 22
  10. 2025Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulationcited by 22
  11. 2022Blocks Assemble! Learning to Assemble with Large-Scale Structured Reinforcement Learningcited by 21
  12. 2022PATO: Policy Assisted TeleOperation for Scalable Robot Data Collectioncited by 19
  13. 2021Large Batch Simulation for Deep Reinforcement Learningcited by 18
  14. 2024Re-assembling the past: The RePAIR dataset and benchmark for real world 2D and 3D puzzle solvingcited by 17
  15. 2022HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handoverscited by 15
  16. 2022Translating a Visual LEGO Manual to a Machine-Executable Plancited by 15
  17. 2025RobotArena ∞: Scalable Robot Benchmarking via Real-to-Sim Translationcited by 15
  18. 2024SEABO: A Simple Search-Based Method for Offline Imitation Learningcited by 14
  19. 2024Geometric Deep Learning for Computer-Aided Design: A Surveycited by 14
  20. 2021RoboAssembly: Learning Generalizable Furniture Assembly Policy in a Novel Multi-robot Contact-rich Simulation Environmentcited by 13
  21. 2022Bi-Manual Manipulation and Attachment via Sim-to-Real Reinforcement Learningcited by 13
  22. 2023Scalable Geometric Fracture Assembly via Co-creation Space among Assemblerscited by 13
  23. 2025Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language Modelscited by 13
  24. 2021Policy Transfer across Visual and Dynamics Domain Gaps via Iterative Groundingcited by 12
  25. 2019To Follow or not to Follow: Selective Imitation Learning from Observationscited by 10
  26. 2021DisCo RL: Distribution-Conditioned Reinforcement Learning for General-Purpose Policiescited by 9
  27. 2022Planning Assembly Sequence with Graph Transformercited by 9
  28. 2024Learning from 10 Demos: Generalisable and Sample-Efficient Policy Learning with Oriented Affordance Framescited by 9
  29. 2021Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulationcited by 8
  30. 2022Break and Make: Interactive Structural Understanding Using LEGO Brickscited by 8
  31. 2023LHManip: A Dataset for Long-Horizon Language-Grounded Manipulation Tasks in Cluttered Tabletop Environmentscited by 7
  32. 2024Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assemblycited by 6
  33. 2024Manual-PA: Learning 3D Part Assembly from Instruction Diagramscited by 6
  34. 2024HACMan++: Spatially-Grounded Motion Primitives for Manipulationcited by 5
  35. 2024Physics-Aware Combinatorial Assembly Sequence Planning using Data-free Action Maskingcited by 5
  36. 2025Manual2Skill++: Connector-Aware General Robotic Assembly from Instruction Manuals via Vision-Language Modelscited by 5
  37. 2025Distracted Robot: How Visual Clutter Undermine Robotic Manipulationcited by 5
  38. 2022Budget-Aware Sequential Brick Assembly with Efficient Constraint Satisfactioncited by 4

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