| --- |
| pretty_name: AssemblyWorldBench |
| license: other |
| license_name: per-source-terms |
| license_link: LICENSE.md |
| tags: |
| - 3d |
| - assembly |
| - agents |
| - benchmark |
| - webmcp |
| size_categories: |
| - n<1K |
| configs: |
| - config_name: default |
| data_files: |
| - split: test |
| path: index/samples.parquet |
| extra_gated_prompt: >- |
| AssemblyWorldBench embeds part geometry, manual pages and reference images from |
| PartNet (via Manual-PA), IKEA-Manual, AssemblyBench (Fusion 360 Gallery) and Fantastic |
| Breaks. These assets keep their original rights. Access is granted for non-commercial |
| research only, and you must comply with the terms of every source dataset. |
| extra_gated_fields: |
| Name: text |
| Affiliation: text |
| I will use this dataset for non-commercial research only: checkbox |
| I will comply with the terms of each source dataset listed in the card: checkbox |
| --- |
| |
| # AssemblyWorldBench |
|
|
| AssemblyWorldBench is the benchmark of *AssemblyWorld: Rethinking 3D Assembly with |
| General-Purpose Agents*. An agent receives the rigid parts of one object, scattered in an |
| interactive 3D scene, and must assemble them by inspecting rendered views and manipulating |
| parts through the environment's WebMCP tools, optionally guided by a reference image or a |
| full assembly manual. The finished scene is scored geometrically against the ground-truth |
| assembly. |
|
|
| The benchmark has **100 evaluations over 80 shapes** from four sources, organized into five |
| blocks of 20. Agent results for the systems in the paper are released separately in |
| [`AssemblyWorld/AssemblyWorldBench-Results`](https://huggingface.co/datasets/AssemblyWorld/AssemblyWorldBench-Results). |
|
|
| | Block | Source dataset | Reference given to the agent | Objects | Parts per object | |
| |---|---|---|---|---| |
| | `partnet-none` | PartNet (Manual-PA split) | none | 7 chairs, 7 tables, 6 storage | 5–15 | |
| | `partnet-final-image` | PartNet (Manual-PA split) | final assembly image | same 20 objects | 5–15 | |
| | `ikea-manualbook` | IKEA-Manual | full manual, original page order | 20 furniture objects | 3–19 | |
| | `assemblybench-manualbook` | AssemblyBench | full step diagrams, in order | 20 industrial objects | 3–18 | |
| | `fantastic-breaks-none` | Fantastic Breaks | none | 20 broken objects | 2 | |
|
|
| Objects were selected from task properties only (category and part-count bands, fixed seed), |
| never from model results. The selection inputs are in `selection/`. |
|
|
| ## Layout |
|
|
| ``` |
| benchmark.json frozen definition: blocks, samples, protocol, aggregation, provenance |
| launch-commands.txt one run command per block |
| index/samples.parquet one row per evaluation (block, source, sample, category, band, parts, paths) |
| selection/ spec, manifest, exclusions, exclusion candidates, overrides |
| <block>/task.txt the task text of the block |
| <block>/<dataset>/<config_id>/ |
| config.json preparation identity and per-sample initial episode records |
| <sample>.episode.zip initial episode: the only input an agent receives |
| cache/<sample>/evaluation.json ground truth for scoring: part point clouds, GT poses, equivalence groups |
| cache/<sample>/reference/<mode>/ reference pages attached to the prompt (final-image, manualbook) |
| ``` |
|
|
| An initial episode is a [3DWebAgent](https://github.com/AssemblyWorld/3DWebAgent) episode |
| archive (`3dwebagent-episode` v1, runtime contract `3dwebagent-runtime-1`): MuJoCo world, |
| part meshes and the scattered initial state. The `cache/` directories hold ground truth and |
| must never be given to an agent; the runner reads only the reference pages from them, and |
| the evaluator reads `evaluation.json`. |
|
|
| ## Running and scoring |
|
|
| The environment is served at `https://assemblyworld.github.io/3DWebAgent/`. Runs and scoring |
| use [`assembly-world-agent`](https://github.com/AssemblyWorld/assembly-world-agent): |
|
|
| ```sh |
| # after downloading this repository to data/assemblyworldbench/ |
| uv run --locked --extra episodes --group browser assembly-world-agent run \ |
| --dataset partnet-manualpa --config-id prep-v1-s0-i0-987553cbcd58 \ |
| --data data/assemblyworldbench/partnet-none --reference-mode none \ |
| --prompt-file data/assemblyworldbench/partnet-none/task.txt \ |
| --agent codex --model MODEL --headless |
| # ... one command per block, see launch-commands.txt |
| uv run --locked --extra episodes python scripts/evaluate_run.py \ |
| --benchmark data/assemblyworldbench/benchmark.json <run directories of the five blocks> |
| ``` |
|
|
| Scoring uses protocol `assembly-evaluation-v2`: the final assembly is aligned to the ground |
| truth with one global SE(3) transform, and parts are matched to ground-truth parts within |
| geometry equivalence groups. **SCD** is the whole-shape Chamfer distance (sum of |
| bidirectional mean squared nearest-neighbor distances, ×1000); **PA** is the fraction of |
| parts whose Chamfer distance to their matched part is at most 0.01; **SR** is 1 when every |
| part is correct. The overall score is the mean over sources of the mean over that source's blocks; |
| a sample without a scored episode counts SR = PA = 0, and a model refusal counts as a failed |
| evaluation. |
|
|
| ## Sources and terms |
|
|
| Every block pins a source dataset revision in `benchmark.json`. The initial episodes embed the |
| source part geometry, and the reference pages are the source images. These assets keep their |
| original rights; see `LICENSE.md` and the source cards. |
|
|
| | Source | Hugging Face dataset | Terms of the underlying assets | |
| |---|---|---| |
| | PartNet (Manual-PA) | [`AssemblyWorld/partnet-manualpa`](https://huggingface.co/datasets/AssemblyWorld/partnet-manualpa) | PartNet and ImagePA / Manual-PA source rights; no blanket redistribution grant verified | |
| | IKEA-Manual | [`AssemblyWorld/ikea-manual`](https://huggingface.co/datasets/AssemblyWorld/ikea-manual) | annotations CC BY-NC-SA 4.0; manuals and meshes keep their creators' rights | |
| | AssemblyBench | [`AssemblyWorld/assemblybench`](https://huggingface.co/datasets/AssemblyWorld/assemblybench) | modifications CC BY-SA 4.0 (MERL); Fusion 360 Gallery assets non-commercial research only under the Fusion 360 Gallery Dataset License | |
| | Fantastic Breaks | [`AssemblyWorld/fantastic-breaks`](https://huggingface.co/datasets/AssemblyWorld/fantastic-breaks) | no dataset license specified; source assets keep their original rights | |
|
|
| Please also cite the source datasets: Mo et al., *PartNet*, 2019; Zhang et al., |
| *Manual-PA*, 2025; Wang et al., *IKEA-Manual*, 2022; Li et al., *AssemblyBench*, |
| 2026; Lamb et al., *Fantastic Breaks*, 2023. |
|
|
