mlsanityData to 14 Oct 2026

FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation

arXiv 2305.12821 ↗First posted 22 May 2023cs.RO cs.AI cs.LGcited by 133

On the map: Offline RL and imitation learning from data → Robot manipulation imitation learning

Abstract (arXiv)

Reinforcement learning (RL), imitation learning (IL), and task and motion planning (TAMP) have demonstrated impressive performance across various robotic manipulation tasks. However, these approaches have been limited to learning simple behaviors in current real-world manipulation benchmarks, such as pushing or pick-and-place. To enable more complex, long-horizon behaviors of an autonomous robot, we propose to focus on real-world furniture assembly, a complex, long-horizon robot manipulation task that requires addressing many current robotic manipulation challenges to solve. We present FurnitureBench, a reproducible real-world furniture assembly benchmark aimed at providing a low barrier for entry and being easily reproducible, so that researchers across the world can reliably test their algorithms and compare them against prior work. For ease of use, we provide 200+ hours of pre-collected data (5000+ demonstrations), 3D printable furniture models, a robotic environment setup guide, and systematic task initialization. Furthermore, we provide FurnitureSim, a fast and realistic simulator of FurnitureBench. We benchmark the performance of offline RL and IL algorithms on our assembly tasks and demonstrate the need to improve such algorithms to be able to solve our tasks in the real world, providing ample opportunities for future research.

Key facts. Cited by 133 papers in the map (data through 14 Oct 2026). Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data. Builds on 44 of its 77 references that are in the map. First posted on arXiv 22 May 2023.

Builds on

44 of 77 references.

Closest ancestors · 4

Same direction, newest first

  1. 2022VIP: Towards Universal Visual Reward and Representation via Value-Implicit Pre-Training30 Sep
  2. 2022BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning4 Feb
  3. 2019Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning25 Oct
  4. 2018RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation7 Nov

Other references · 40

  1. 2017Attention Is All You Needcited by 60,361
  2. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  3. 2019PyTorch: An Imperative Style, High-Performance Deep Learning Librarycited by 20,305
  4. 2016Layer Normalizationcited by 5,669
  5. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,838
  6. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,061
  7. 2016Identity Mappings in Deep Residual Networkscited by 1,965
  8. 2016OpenAI Gymcited by 1,736
  9. 2021Offline Reinforcement Learning with Implicit Q-Learningcited by 1,293
  10. 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,214
  11. 2019Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learningcited by 1,204
  12. 2019Habitat: A Platform for Embodied AI Researchcited by 1,191
28 more
  1. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  2. 2018DeepMind Control Suitecited by 956
  3. 2015End-to-End Training of Deep Visuomotor Policiescited by 875
  4. 2019Solving Rubik's Cube with a Robot Handcited by 734
  5. 2017Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrationscited by 715
  6. 2022R3M: A Universal Visual Representation for Robot Manipulationcited by 694
  7. 2019RLBench: The Robot Learning Benchmark & Learning Environmentcited by 689
  8. 2018Learning Dexterous In-Hand Manipulationcited by 687
  9. 2021CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Taskscited by 584
  10. 2020robosuite: A Modular Simulation Framework and Benchmark for Robot Learningcited by 511
  11. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 511
  12. 2017One-Shot Imitation Learningcited by 233
  13. 2020Accelerating Reinforcement Learning with Learned Skill Priorscited by 223
  14. 2018Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experiencecited by 217
  15. 2021BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environmentscited by 165
  16. 2021FlingBot: The Unreasonable Effectiveness of Dynamic Manipulation for Cloth Unfoldingcited by 81
  17. 2019ROBEL: Robotics Benchmarks for Learning with Low-Cost Robotscited by 72
  18. 2021Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapescited by 71
  19. 2019IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Taskscited by 69
  20. 2022Factory: Fast Contact for Robotic Assemblycited by 54
  21. 2019DoorGym: A Scalable Door Opening Environment And Baseline Agentcited by 26
  22. 2019REPLAB: A Reproducible Low-Cost Arm Benchmark Platform for Robotic Learningcited by 17
  23. 2021Real Robot Challenge: A Robotics Competition in the Cloudcited by 14
  24. 2019To Follow or not to Follow: Selective Imitation Learning from Observationscited by 10
  25. 2015A Framework for Fine Robotic Assemblycited by 8
  26. 2020Benchmarking In-Hand Manipulationcited by 6
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  28. 2022DGBench: An Open-Source, Reproducible Benchmark for Dynamic Graspingcited by 5

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 9; 2024: 35; 2025: 48; 2026: 41.

133 papers.

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  1. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,887
  2. 2024Octo: An Open-Source Generalist Robot Policycited by 1,484
  3. 2024RDT-1B: a Diffusion Foundation Model for Bimanual Manipulationcited by 691
  4. 2025SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Modelcited by 519
  5. 2024CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulationcited by 422
  6. 2025UniVLA: Learning to Act Anywhere with Task-centric Latent Actionscited by 410
  7. 2024Diffusion Policy Policy Optimizationcited by 280
  8. 2025EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Videocited by 211
  9. 2025HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Modelcited by 181
  10. 2024Deep Reinforcement Learning for Robotics: A Survey of Real-World Successescited by 176
  11. 2024iVideoGPT: Interactive VideoGPTs are Scalable World Modelscited by 146
  12. 2024SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learningcited by 136
38 more
  1. 2024THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulationcited by 133
  2. 2024Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviationcited by 114
  3. 2024HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulationcited by 112
  4. 2023On Bringing Robots Homecited by 101
  5. 2024From Imitation to Refinement -- Residual RL for Precise Assemblycited by 90
  6. 2023Bootstrap Your Own Skills: Learning to Solve New Tasks with Large Language Model Guidancecited by 86
  7. 2024IGOR: Image-GOal Representations are the Atomic Control Units for Foundation Models in Embodied AIcited by 72
  8. 2025RoboArena: Distributed Real-World Evaluation of Generalist Robot Policiescited by 64
  9. 2025villa-X: Enhancing Latent Action Modeling in Vision-Language-Action Modelscited by 63
  10. 2026Robometer: Scaling General-Purpose Robotic Reward Models via Trajectory Comparisonscited by 60
  11. 2024TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correctioncited by 59
  12. 2024Towards Diverse Behaviors: A Benchmark for Imitation Learning with Human Demonstrationscited by 53
  13. 2024RoboGSim: A Real2Sim2Real Robotic Gaussian Splatting Simulatorcited by 53
  14. 2025AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real Worldcited by 48
  15. 2024Diffusion Transformer Policycited by 41
  16. 2025Diffusion Models for Robotic Manipulation: A Surveycited by 41
  17. 2024JUICER: Data-Efficient Imitation Learning for Robotic Assemblycited by 38
  18. 2025VLA-OS: Structuring and Dissecting Planning Representations and Paradigms in Vision-Language-Action Modelscited by 36
  19. 2023MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulationcited by 34
  20. 2025BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activitiescited by 31
  21. 2024BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmarkcited by 30
  22. 2024CARP: Visuomotor Policy Learning via Coarse-to-Fine Autoregressive Predictioncited by 27
  23. 2023Universal Visual Decomposer: Long-Horizon Manipulation Made Easycited by 25
  24. 2025Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulationcited by 25
  25. 2024Benchmarking Vision, Language, & Action Models on Robotic Learning Taskscited by 23
  26. 2025MLA: A Multisensory Language-Action Model for Multimodal Understanding and Forecasting in Robotic Manipulationcited by 23
  27. 2024Local Policies Enable Zero-shot Long-horizon Manipulationcited by 22
  28. 2024GarmentLab: A Unified Simulation and Benchmark for Garment Manipulationcited by 22
  29. 2025DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulationcited by 19
  30. 2025RobotArena ∞: Scalable Robot Benchmarking via Real-to-Sim Translationcited by 18
  31. 2026LAP: Language-Action Pre-Training Enables Zero-shot Cross-Embodiment Transfercited by 18
  32. 2023LoHoRavens: A Long-Horizon Language-Conditioned Benchmark for Robotic Tabletop Manipulationcited by 17
  33. 2024Continuous Control with Coarse-to-fine Reinforcement Learningcited by 17
  34. 2025Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuningcited by 17
  35. 2024ReALFRED: An Embodied Instruction Following Benchmark in Photo-Realistic Environmentscited by 16
  36. 2024Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimickingcited by 16
  37. 2025XR-1: Towards Versatile Vision-Language-Action Models via Learning Unified Vision-Motion Representationscited by 15
  38. 2023LiFT: Unsupervised Reinforcement Learning with Foundation Models as Teacherscited by 14

50 most cited of 133 All 133 (JSON)

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  1. 2025RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments
  2. 2024ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks
  3. 2024FetchBench: A Simulation Benchmark for Robot Fetching
  4. 2025RL-100: Performant Robotic Manipulation with Real-World Reinforcement Learning
  5. 2025RobotMover: Learning to Move Large Objects From Human Demonstrations
  6. 2025Bootstrapping Imitation Learning for Long-horizon Manipulation via Hierarchical Data Collection Space
  7. 2026Real-IKEA: Physical Fidelity is the Prerequisite for Robust Manipulation ↗
  8. 2026KinDER: A Physical Reasoning Benchmark for Robot Learning and Planning