WorkBenchMark: A LEGO-Based Assembly Benchmark with an Assembly-by-Disassembly Baseline for the Smart Manufacturing League

• URL: http://arxiv.org/abs/2606.19358v1
• Date: Tue, 02 Jun 2026 17:15:31 GMT
• Title: WorkBenchMark: A LEGO-Based Assembly Benchmark with an Assembly-by-Disassembly Baseline for the Smart Manufacturing League
• Abstract summary: We introduceWorkBenchMark, a LEGO Duplo-based robotic assembly benchmark motivated by the RoboCup Smart Manufacturing League.<n>WorkBenchMark couples low-level manipulation with task-level symbolic reasoning under physical constraints.<n>Our planning-based pipeline outperforms a modern vision-language-action approach across all tiers.
• Score: 4.751824031326403
• License: http://creativecommons.org/licenses/by-sa/4.0/
• Abstract: We introduceWorkBenchMark, a LEGO Duplo-based robotic assembly benchmark motivated by the RoboCup Smart Manufacturing League. Robotic assembly couples low-level manipulation with task-level symbolic reasoning under physical constraints, a combination that current end-to-end learning methods do not yet solve reliably. The benchmark provides 400 tasks across four complexity tiers. We provide an open-vocabulary perception, Assembly-by-Disassembly baseline solution. Our planning-based pipeline outperforms a modern vision-language-action approach across all tiers. The benchmark, simulation environment, and baseline implementation will be released openly to support the broader robotic assembly community.

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