BrickCraft-Duo: Efficient Dual-Arm Skill Learning and Refinement for Compositional Long-Horizon Assembly

arXiv:2609.28281 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Project page: https://jichuan-yu.github.io/BrickCraft-Duo

Terminology

• Alignment — 19× in this paper · explained in 1 episode
• Calibration — 3× in this paper · explained in 7 episodes
• Completion Rate — 3× in this paper
• Human-in-the-Loop — 3× in this paper · explained in 3 episodes
• APEX — 2× in this paper · explained in 1 episode
• Ablation — 2× in this paper · explained in 1 episode
• Ablation study — 2× in this paper · explained in 1 episode
• Adaptability — 2× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Task Planning — 2× in this paper · explained in 2 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Cooperation — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes
• Visual Grounding — 1× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• Cooperative Task and Motion Planning for Multi-Arm Assembly Systems
• APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly
• CoStream: Composing Simple Behaviors for Generalizable Complex Manipulation
• ${\pi}_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities
• FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model
• Autonomous Integration and Improvement of Robotic Assembly using Skill Graph Representations
• Symskill: Symbol and Skill Co-Invention for Data-Efficient and Reactive Long-Horizon Manipulation
• BrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly
• Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language Models
• ARCH: Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly
• SkillVLA: Tackling Combinatorial Diversity in Dual-Arm Manipulation via Skill Reuse
• EquiBim: Learning Symmetry-Equivariant Policy for Bimanual Manipulation
• High-Performance Dual-Arm Task and Motion Planning for Tabletop Rearrangement
• SAM 2: Segment Anything in Images and Videos

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