Was 'The Golden Girls' filmed in front of a live audience?

https://en.wikipedia.org/wiki/The_Golden_Girls#Format

Q. Do you like the stage better than TV because of that instant response?

A. Even in TV with both shows, with "Maude" and "The Golden Girls" we did it in front of a live audience as a one-act play. We didn't stop the taping. There was always an audience there to feed us. I can't imagine working without and audience. And we had a great cast in both shows. And the great writers, directors -- I was extremely lucky.