WorkBenchMark: A LEGO-Based Assembly Benchmark with an Assembly-by-Disassembly Baseline for the Smart Manufacturing League
WorkBenchMark is a LEGO Duplo-based robotic assembly benchmark inspired by the RoboCup Smart Manufacturing League. It provides 400 tasks across four complexity tiers and introduces an open-vocabulary Assembly-by-Disassembly baseline. The planning-based pipeline outperforms modern vision-language-action approaches on all tiers. The benchmark, simulation environment, and baseline implementation will be released openly.
[2606.19358] WorkBenchMark: A LEGO-Based Assembly Benchmark with an Assembly-by-Disassembly Baseline for the Smart Manufacturing League
[Submitted on 2 Jun 2026]
Title:WorkBenchMark: A LEGO-Based Assembly Benchmark with an Assembly-by-Disassembly Baseline for the Smart Manufacturing League
View a PDF of the paper titled WorkBenchMark: A LEGO-Based Assembly Benchmark with an Assembly-by-Disassembly Baseline for the Smart Manufacturing League, by Wenbo Ma and 3 other authors
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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.
Comments: RoboCup Symposium 2026 accepted paper
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2606.19358 [cs.RO]
(or arXiv:2606.19358v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2606.19358
arXiv-issued DOI via DataCite
Submission history
From: Daniel Maximilian Swoboda [view email] [v1] Tue, 2 Jun 2026 17:15:31 UTC (1,890 KB)
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