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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2605.07605 |
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| _version_ | 1866911662134525952 |
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| author | Yu, Jichuan Li, Bowei Tang, Zhenran Lu, Guanxing Hu, Chuxiong Liu, Ruixuan Liu, Changliu |
| author_facet | Yu, Jichuan Li, Bowei Tang, Zhenran Lu, Guanxing Hu, Chuxiong Liu, Ruixuan Liu, Changliu |
| contents | Autonomous robotic assembly of interlocking bricks demands seamless integration of long-horizon task reasoning, spatial grounding, and fine-grained manipulation. This paper presents BrickCraft, a compositional framework designed for long-horizon and generalizable interlocking brick assembly. BrickCraft models the assembly process using a relative formulation, where each step is anchored to a reference brick within the partial structure, thereby decomposing complex tasks into a finite set of reusable primitive skills. BrickCraft bridges the gap between high-level assembly plans and physical execution through situated manuals, which provide explicit spatial guidance for learned visuomotor skills by projecting the assembly intent onto real-time robot observations. Finally, BrickCraft employs a compositional execution pipeline that chains these spatially grounded skills to accomplish long-horizon assembly tasks. Extensive experimental validations demonstrate that BrickCraft acquires proficient assembly skills from a limited set of demonstrations and exhibits strong compositional generalization to unseen structures. The project website is available at https://intelligent-control-lab.github.io/BrickCraft. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_07605 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | BrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly Yu, Jichuan Li, Bowei Tang, Zhenran Lu, Guanxing Hu, Chuxiong Liu, Ruixuan Liu, Changliu Robotics Autonomous robotic assembly of interlocking bricks demands seamless integration of long-horizon task reasoning, spatial grounding, and fine-grained manipulation. This paper presents BrickCraft, a compositional framework designed for long-horizon and generalizable interlocking brick assembly. BrickCraft models the assembly process using a relative formulation, where each step is anchored to a reference brick within the partial structure, thereby decomposing complex tasks into a finite set of reusable primitive skills. BrickCraft bridges the gap between high-level assembly plans and physical execution through situated manuals, which provide explicit spatial guidance for learned visuomotor skills by projecting the assembly intent onto real-time robot observations. Finally, BrickCraft employs a compositional execution pipeline that chains these spatially grounded skills to accomplish long-horizon assembly tasks. Extensive experimental validations demonstrate that BrickCraft acquires proficient assembly skills from a limited set of demonstrations and exhibits strong compositional generalization to unseen structures. The project website is available at https://intelligent-control-lab.github.io/BrickCraft. |
| title | BrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.07605 |