mlsanityData to 14 Oct 2026

RoboAssembly: Learning Generalizable Furniture Assembly Policy in a Novel Multi-robot Contact-rich Simulation Environment

arXiv 2112.10143 ↗First posted 19 Dec 2021cs.RO cs.AI cs.CVcited by 14

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Abstract (arXiv)

Part assembly is a typical but challenging task in robotics, where robots assemble a set of individual parts into a complete shape. In this paper, we develop a robotic assembly simulation environment for furniture assembly. We formulate the part assembly task as a concrete reinforcement learning problem and propose a pipeline for robots to learn to assemble a diverse set of chairs. Experiments show that when testing with unseen chairs, our approach achieves a success rate of 74.5% under the object-centric setting and 50.0% under the full setting. We adopt an RRT-Connect algorithm as the baseline, which only achieves a success rate of 18.8% after a significantly longer computation time. Supplemental materials and videos are available on our project webpage.

Key facts. Cited by 14 papers in the map (data through 14 Oct 2026). Builds on 19 of its 34 references that are in the map. First posted on arXiv 19 Dec 2021.

Builds on

19 of 34 references.

References · 19

  1. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  2. 2015Deep Reinforcement Learning with Double Q-learningcited by 1,745
  3. 2019Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learningcited by 1,204
  4. 2016A Point Set Generation Network for 3D Object Reconstruction from a Single Imagecited by 979
  5. 2017Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrationscited by 715
  6. 2019RLBench: The Robot Learning Benchmark & Learning Environmentcited by 689
  7. 2018Learning Dexterous In-Hand Manipulationcited by 687
  8. 2018PartNet: A Large-scale Benchmark for Fine-grained and Hierarchical Part-level 3D Object Understandingcited by 526
  9. 2020Integrated Task and Motion Planningcited by 290
  10. 2017Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metricscited by 264
  11. 2019IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Taskscited by 69
  12. 2020Generative 3D Part Assembly via Dynamic Graph Learningcited by 67
7 more
  1. 2020Learning 3D Part Assembly from a Single Imagecited by 52
  2. 2019Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assemblycited by 39
  3. 2021Long-Horizon Multi-Robot Rearrangement Planning for Construction Assemblycited by 24
  4. 2018Learning Robotic Assembly from CADcited by 21
  5. 2019Learning to Scaffold the Development of Robotic Manipulation Skillscited by 13
  6. 2021Learning to Regrasp by Learning to Placecited by 11
  7. 2020Design and Control of Roller Grasper V2 for In-Hand Manipulationcited by 6

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 3; 2023: 5; 2024: 1; 2025: 3; 2026: 2.

14 papers.

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  1. 2022Factory: Fast Contact for Robotic Assemblycited by 54
  2. 2022Breaking Bad: A Dataset for Geometric Fracture and Reassemblycited by 41
  3. 2023ASAP: Automated Sequence Planning for Complex Robotic Assembly with Physical Feasibilitycited by 18
  4. 2025Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language Modelscited by 14
  5. 2023Rearrangement Planning for General Part Assemblycited by 12
  6. 2023Structural Concept Learning via Graph Attention for Multi-Level Rearrangement Planningcited by 8
  7. 2023Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selectioncited by 6
  8. 2025BiAssemble: Learning Collaborative Affordance for Bimanual Geometric Assemblycited by 5
  9. 2025Manual2Skill++: Connector-Aware General Robotic Assembly from Instruction Manuals via Vision-Language Modelscited by 5
  10. 2026A3D: Adaptive Affordance Assembly with Dual-Arm Manipulationcited by 3
  11. 2022AssembleRL: Learning to Assemble Furniture from Their Point Cloudscited by 2
  12. 2023Reassembling Broken Objects using Breaking Curvescited by 1
2 more
  1. 2024Subassembly to Full Assembly: Effective Assembly Sequence Planning through Graph-based Reinforcement Learningcited by 0
  2. 2026EUPHORIA: Efficient Universal Planning via Hybrid Optimization for Robust Industrial Robotic Assemblycited by 0