BrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly

arXiv:2605.07605 · cs.RO · Submitted 2026-05-08 · Read on arXiv

cs.RO

Submitted: 2026-05-08

Updated: 2026-10-09

Project page: https://intelligent-control-lab.github.io/BrickCraft

Terminology

• Grounding — 17× in this paper · explained in 3 episodes
• Generalization — 15× in this paper · explained in 13 episodes
• Alignment — 7× in this paper · explained in 1 episode
• Robustness — 4× in this paper · explained in 5 episodes
• Compositional Generalization — 3× in this paper · explained in 4 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Abstraction — 2× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Core — 2× in this paper · explained in 2 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Failure Modes — 2× in this paper · explained in 3 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Ablation study — 1× in this paper · explained in 2 episodes
• Action Masking — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Diffusion Process — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Hierarchical Framework — 1× in this paper · explained in 2 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes

Sources

• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language Models
• Query-Centric Diffusion Policy for Generalizable Robotic Assembly
• ARCH: Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly
• ManualVLA: A Unified VLA Model for Chain-of-Thought Manual Generation and Robotic Manipulation
• APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly
• Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
• Goal-Conditioned Imitation Learning using Score-based Diffusion Policies
• BrickSim: A Physics-Based Simulator for Manipulating Interlocking Brick Assemblies
• Autonomous Integration and Improvement of Robotic Assembly using Skill Graph Representations
• MOSAIC: Skill-Centric Manipulation Planning with Physics Simulation
• SAM 2: Segment Anything in Images and Videos
• Diffusion Policy Policy Optimization

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