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

arXiv (Cornell University)

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.

Authors 4

1. Wenbo Ma Aachen Chair of Machine Learning and Reasoning

   RWTH Aachen University

   Affiliation as printed

   Chair of Machine Learning and Reasoning (i6) , RWTH Aachen University , Aachen , Germany

2. Daniel Swoboda Aachen Chair of Machine Learning and Reasoning

   RWTH Aachen University

   Affiliation as printed

   Chair of Machine Learning and Reasoning (i6) , RWTH Aachen University , Aachen , Germany

3. Matteo Tschesche Aachen MASCOR Institute

   FH Aachen

   Affiliation as printed

   MASCOR Institute , FH Aachen University of Applied Science , Aachen , Germany

4. Till Hofmann Aachen Chair of Machine Learning and Reasoning

   RWTH Aachen University

   Affiliation as printed

   Chair of Machine Learning and Reasoning (i6) , RWTH Aachen University , Aachen , Germany