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

arXiv: https://arxiv.org/abs/2606.19358 · HTML: https://mlsanity.com/paper/2606.19358/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Jun 2026.

## Built on by (most cited first, 1 of 1)

- [VLMs Can Describe, But Not Measure: Object-Centric Scene Understanding for Robotic Manipulation](https://mlsanity.com/paper/2609.28184/) (2026)

## Abstract (arXiv)

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.