Skip to content
Daniel Swoboda

Blog

Notes on robotics, planning, neuro-symbolic AI, and the occasional thought on research life.

WorkBenchMark: Benchmarking Robotic Assembly with LEGO

robotics robotic assembly benchmark task and motion planning

A shared yardstick for robotic assembly, built on LEGO Duplo: 400 tasks across four difficulty tiers, an open-vocabulary Assembly-by-Disassembly baseline, and a finding — structured planning beats a modern vision-language-action model at every tier, and the gap widens with complexity.

Read more → 6 min read

TAMPanda: Just Another MuJoCo Wrapper

robotics task and motion planning MuJoCo neuro-symbolic

A short tour of TAMPanda, now public: a MuJoCo wrapper for the Franka Panda that takes you from a symbolic plan to a physically validated, collision-free execution — so you can work on the algorithm, not the plumbing.

Read more → 5 min read

Keep the Learning Inside the Plan

robotics task and motion planning neuro-symbolic long-horizon

An opinion I formed the hard way — for long-horizon robot tasks, the durable scaffold is symbolic and legible. Learning is best poured into that structure, not wrapped around it.

Read more → 3 min read