  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
