BrickCraft: Visuomotor Skill Composition for Long-Horizon Brick Assembly
Overview
BrickCraft introduces a compositional framework for interlocking brick assembly, using relative formulations and situated manuals to guide visuomotor skills. It enables long-horizon task completion with modular execution pipelines and limited demonstrations.
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- arXiv Robotics — research abstractsBrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly
This paper presents BrickCraft, a compositional framework for long-horizon and generalizable interlocking brick assembly. It models the assembly process using a relative formulation, decomposing complex tasks into reusable primitive skills. Situated manuals provide explicit spatial guidance for learned visuomotor skills, and a modular execution pipeline enables the completion of long-horizon tasks. Experimental results show that BrickCraft effectively composes skills from limited demonstrations for diverse assembly tasks.
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