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[Submitted on 13 Sep 2026] Title:AssemblyGrid v1: A Benchmark for Multi-Robot Production with Temporary Coalitions, Local Information, and Geometric Constraints View a PDF of the paper titled AssemblyGrid v1: A Benchmark for Multi-Robot Production with Temporary Coalitions, Local Information, and Geometric Constraints, by Fouad Bahrpeyma and 1 other authors View PDF Abstract:Flexible robotic production requires joint decisions on process progression, material routing, resource assignment, temporary cooperation, and simultaneous execution, since each decision can affect the feasibility of the others. The challenge is greater under decentralized control, where each robot acts from bounded local information while system progress depends on collective decisions, shared resources, material state, and workspace compatibility. These properties closely match cooperative multi-agent decision making under partial observability and resource contention. This paper introduces AssemblyGrid v1, a reproducible benchmark for repeated multi-robot production that combines explicit process progression, decentralized observations, material transfer, temporary multi-robot coalitions, productive concurrency, and geometry-dependent feasibility within one task-level formulation. The benchmark includes Flow, Coalition, and Concurrency workload families, each with three scenario levels. Task success and evaluation measures are defined independently of learning reward and solution method, allowing learning-based and non-learning methods to address the same production problem. AssemblyGrid v1 is evaluated through executable conformance checks, mechanism studies, and algorithmic experiments using a privileged centralized reference, structured decentralized controllers, and MARL methods including IPPO, MAPPO, and QMIX. Results demonstrate productive execution under centralized and decentralized control. The MARL experiments further show that decentralized policies can learn effective production behavior from local observations and actions, supporting AssemblyGrid as a controlled benchmark for studying cooperative decision making in flexible robotic production. Comments: 11 figures and 23 tables, including appendices with the formal benchmark specification, evaluation protocol, conformance requirements, and extended experimental results. The AssemblyGrid v1 benchmark implementation and reproducibility materials will be publicly available at this https URL and this https URL when the paper is online Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI) Cite as: arXiv:2609.16075 [cs.RO] (or arXiv:2609.16075v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.16075 arXiv-issued DOI via DataCite Submission history From: Fouad Bahrpeyma [view email] [v1] Sun, 13 Sep 2026 16:53:54 UTC (728 KB) Full-text links: Access Paper: View a PDF of the paper titled AssemblyGrid v1: A Benchmark for Multi-Robot Production with Temporary Coalitions, Local Information, and Geometric Constraints, by Fouad Bahrpeyma and 1 other authors View PDF TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs cs.AI References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)