IKEA Furniture Assembly Environment

We are announcing the launch of the IKEA Furniture Assembly environment as a first-of-its-kind benchmark for testing and accelerating the automation of physical assembly processes. The IKEA Furniture Assembly environment will be a stepping stone towards a new era of robots that can understand, plan, and skillfully execute precise physical manipulations, a far departure from the traditional robots of today.
Cognitive Learning for Vision and Robotics (CLVR), USC

Furniture Assembly

Complex long-horizon manipulation task

Diversity

60+ furniture models, customizable background, lighting and textures

Robots

Baxter, Sawyer, and more

Easy to Use

OpenAI Gym interface for imitation / reinforcement learning

Realistic Robot Simulation

Sawyer
Baxter
Jaco
Panda
Fetch
Cursor
  • Support for Sawyer, Baxter, Jaco, Panda, and Fetch robots with IK, impedance, and torque controls
  • Provide Cursor agent as an abstraction

Various Environments

Diverse lighting, textures, and background
  • Variability in furniture, textures, physics, lighting, background, and more
  • Uses Unity3d for realistic visualization

80+ IKEA Furniture Models

Diverse IKEA furniture
  • Over 60 furniture models: chairs, tables, cabinets, bookcases, desks, shelfs, and TVs
  • Created following official IKEA manuals with minor simplifications in carving and screws
Examples of furniture models

Available Observations

Scene
Depth
Segmentation
Goal
  • Reinforcement learning and imitation learning for complex manipulation tasks
  • Sim-to-real for real robot object manipulation
  • Computer vision tasks (object pose estimation, scene understanding, instance segmentation, etc)

Limitations and Future Work

While we worked hard to provide a comprehensive furniture assembly environment, there are many potential avenues for extension.

  • Realistic part attachment: peg insertion, screwing, nailing mechanisms
  • Tool use: using a screwdriver or a hammer
  • Multi-agent assembly: using multiple robots to assemble furniture
  • Supervision: leverage verbal and visual instructions or demonstrations

Citations

                      @inproceedings{lee2021ikea,
  title={{IKEA} Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks},
  author={Lee, Youngwoon and Hu, Edward S and Lim, Joseph J},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  year={2021},
  url={https://clvrai.com/furniture},
}

Questions and Comments

For bug reports, feedback, or comments, please fill out this form, or create a github issue, or email Youngwoon Lee (lee504@usc.edu).