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.

该研究提出面向复杂长程行为的真实世界家具组装任务，并提出 FurnitureBench 家具组装基准测试，供研究人员测试和比较不同算法的性能表现，基于该基准测试验证了在线和离线强化学习、模仿学习算法的性能，进一步提出未来的研究方向。

FurnitureBench：面向复杂长期操作的可复制实现的真实世界基准测试