用乐高积木构建机器人装配基准，解决复杂任务中的物理与符号推理难题。
WorkBenchMark: A LEGO-Based Assembly Benchmark with an Assembly-by-Disassembly Baseline for the Smart Manufacturing League
- 基于乐高积木设计400个分层装配任务，覆盖四类难度。
- 提出拆解-重装基线方案，规划方法在所有层级上优于视觉语言模型。
- 开源仿真环境与代码，适合机器人装配与具身智能研究者使用。
我们提出WorkBenchMark，一个基于LEGO Duplo的机器人装配基准，灵感来自RoboCup智能制造联盟。机器人装配需结合底层操作与高层符号推理，在物理约束下完成任务，而现有端到端学习方法尚无法可靠解决此问题。该基准包含400个任务，分为四个复杂度层级。我们提供开放词汇感知能力和基于拆解-重装的基线解决方案。基于规划的流水线在所有层级上均优于现代视觉-语言-动作方法。基准、仿真环境及基线实现将公开发布，以支持更广泛的机器人装配研究社区。
原文摘要 · Abstract (English)
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.
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