FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model
Current work on robot furniture assembly mostly focuses on toy-scale settings or single-arm manipulation. We introduce FurnitureVLA, the first systematic study of real-scale bimanual furniture assembly using Vision-Language-Action models (VLAs). We formalize the task, develop a scalable simulation pipeline for expert data generation and evaluation, and build a VR teleoperation system for single-operator bimanual control to collect high-quality real-world demonstrations. To address extreme long-horizon assembly with up to 7 subtasks and 1550 control steps, we propose a progress-enhanced VLA, fi
