2026

1. [J45] BrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly
   Jichuan Yu, Bowei Li, Zhenran Tang, Guanxing Lu, Chuxiong Hu, Ruixuan Liu and Changliu Liu
   IEEE Robotics and Automation Letters, 2026
   

   Preprint Page Video Abstract Cite

   Citation Formats: BibTeX Plain Text

   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 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.

   Video: