TL;DR
BrickCraft is a framework enabling robots to perform complex, long-horizon interlocking brick assembly by decomposing tasks into reusable skills guided by situated manuals, demonstrating strong generalization from limited demonstrations.
Contribution
The paper introduces a compositional framework that integrates spatially grounded visuomotor skills with situated manuals for generalizable long-horizon brick assembly.
Findings
Proficient assembly skills learned from limited demonstrations.
Strong generalization to unseen structures demonstrated.
Effective bridging of high-level plans and physical execution.
Abstract
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…
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