arxivcs.ROcs.AI2026-07-01
FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model
Chenyang Ma, Yue Yang, Radu Corcodel, Siddarth Jain, Andrew Wu, Chiori Hori, et al.
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 s…