Learning to Build: Autonomous Robotic Assembly of Stable Structures Without Predefined Plans
Overview
This paper introduces an autonomous robotic assembly framework that constructs stable structures without predefined architectural blueprints. By defining tasks through targets and obstacles, the system adapts to environmental uncertainty using a reinforcement learning policy trained with deep Q-learning and successor features. Evaluated on a benchmark of 15 discrete 2D block construction tasks in a real-world closed-loop setup, the approach demonstrates feasibility and robustness against construction noise, suggesting a promising direction for adaptable robotic construction.
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“arXiv:2602.23934v3 Announce Type: replace Abstract: This paper presents a novel autonomous robotic assembly framework for constructing stable structures without relying on predefined architectural blueprints. Instead of following fixed plans, construction tasks are defined through targets and obstacles, allowing the system to adapt more flexibly to environmental uncertainty and variations during the building process.”
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- arXiv Robotics — research abstractsSignalLearning to Build: Autonomous Robotic Assembly of Stable Structures Without Predefined Plans
This paper introduces an autonomous robotic assembly framework that constructs stable structures without predefined architectural blueprints. By defining tasks through targets and obstacles, the system adapts to environmental uncertainty using a reinforcement learning policy trained with deep Q-learning and successor features. Evaluated on a benchmark of 15 discrete 2D block construction tasks in a real-world closed-loop setup, the approach demonstrates feasibility and robustness against construction noise, suggesting a promising direction for adaptable robotic construction.
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