WorkBenchMark: A LEGO-Based Assembly Benchmark with an Assembly-by-Disassembly Baseline for the Smart Manufacturing League
Provides a standardized benchmark for robotic assembly, benefiting researchers in smart manufacturing and robotic manipulation.
The paper introduces WorkBenchMark, a LEGO Duplo-based robotic assembly benchmark with 400 tasks across four complexity tiers, and presents an Assembly-by-Disassembly baseline that outperforms a modern vision-language-action approach across all tiers.
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.