Frasier

The cast had an unusual amount of freedom to suggest changes to the script. Grammer used an acting method he called ``requisite disrespect'' and did not rehearse with the others, instead learning and rehearsing his lines once just before filming each scene in front of a live studio audience. Although effective, the system often caused panic among guest stars. In 1996, Grammer's recurrent alcoholism led to a car accident; the cast and crew performed an intervention that persuaded him to enter the Betty Ford Clinic, delaying production for a month.

Question: was frasier filmed in front of a studio audience
Answer: yes