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.
| 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 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/. The public
runner and official scorer are assembly-world-bench
(v1.0.0, MIT software; macOS and Linux). Install that repository with
uv sync --locked --extra browser, and install/authenticate the selected agent CLI and
the pinned browser MCP dependency as described in its README.
# Necessary files are downloaded from the tool's fixed HF revision automatically.
uv run assembly-world-bench download --block ikea-manualbook
uv run assembly-world-bench run --all --agent codex --model MODEL --headless
uv run assembly-world-bench status logs/RUN_ID
uv run assembly-world-bench resume logs/RUN_ID
uv run assembly-world-bench eval logs/RUN_ID
# For an existing v1 snapshot, add --benchmark /absolute/path/to/package.
# Explicit local mode never fetches or reconstructs missing data.
See launch-commands.txt for individual block commands. Task text, reference conditions,
sample identities, GT clouds, GT poses, equivalence groups and scales are frozen. GT is
never provided to the agent or served over HTTP. Only this benchmark repository is
consumed by the tool; the separate paper-results repository is a reference link.
Scoring uses protocol assembly-evaluation-v1. This release only renames the previous
assembly-evaluation-v2 protocol marker; it does not change any numerical rule, sample,
task, initial episode, reference image or GT value. Older revisions retain the original
marker for historical use; the v1 tool accepts only the migrated package.
The final assembly is aligned to the ground truth with one global SE(3) transform, and parts are matched within the cached 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 matched Chamfer distance is at most 0.01; SR is 1 when every part is correct. Alignment and matching rules are fixed.
An attempted evaluation without valid scored geometry counts PA = SR = 0, including missing or invalid final exports. Agent-reported status never replaces a valid geometric score; refusals remain in the evaluation denominator. SCD averages only successfully scored samples. Evaluation follows explicit resume chains and uses each sample's last actual attempt; it does not fall back to earlier successful exports. Unrelated runs with duplicate samples are errors. Partial reports show selected sample/block scores and coverage. Official Overall is emitted only when all five blocks have final attempt records for all 100 evaluations: average the blocks within each source, then average the four sources equally. Resource statistics include only the selected attempt; unknown values remain null and costs are not estimated.
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 |
PartNet and ImagePA / Manual-PA source rights; no blanket redistribution grant verified |
| IKEA-Manual | AssemblyWorld/ikea-manual |
annotations CC BY-NC-SA 4.0; manuals and meshes keep their creators' rights |
| AssemblyBench | 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 |
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.