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BrickCraft-Duo: Efficient Dual-Arm Skill Learning and Refinement for Compositional Long-Horizon Assembly — arXiv:2609.28281

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.28281
License (as archived): CC0-1.0
Archived: 2026-10-08T12:53:49.170Z
SHA-256 of the archived text: 0f025f7d24d9192b54ddb45c134ed1dd98af7baf24eb41e1cae17a55a48d4a65
Stable URL of this page: https://metraipolis.com/documento/dc_cdadfcd28a1d

How to cite

BrickCraft-Duo: Efficient Dual-Arm Skill Learning and Refinement for Compositional Long-Horizon Assembly — arXiv:2609.28281 — arXiv (en), https://arxiv.org/abs/2609.28281 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_cdadfcd28a1d (Metraipolis archive dc_cdadfcd28a1d, sha256 0f025f7d24d9192b54ddb45c134ed1dd98af7baf24eb41e1cae17a55a48d4a65)

BibTeX

@misc{dccdadfcd28a1d,
  title = {BrickCraft-Duo: Efficient Dual-Arm Skill Learning and Refinement for Compositional Long-Horizon Assembly — arXiv:2609.28281},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.28281},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_cdadfcd28a1d; sha256 0f025f7d24d9192b54ddb45c134ed1dd98af7baf24eb41e1cae17a55a48d4a65},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.28281. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Interlocking brick assembly provides a representative testbed for evaluating real-world robotic manipulation capabilities, where diverse structural designs, complex inter-step dependencies, intricate mechanical interactions and tight insertion tolerances pose substantial challenges. We present BrickCraft-Duo, a modular framework for long-horizon dual-arm collaborative assembly of interlocking bricks through data-efficient skill learning and composition. BrickCraft-Duo learns reusable single- and dual-arm assembly skills from diverse demonstrations, with bilateral symmetry alignment facilitating skill sharing across symmetric arms and assembly--support role assignments. Guided by stability-aware assembly reasoning, BrickCraft-Duo composes heterogeneous skills to achieve autonomous long-horizon execution, and further integrates human-in-the-loop correction for targeted skill refinement. The resulting system achieves long-horizon success rates of at least 60% and step-level completion rates of at least 95% across five real-world assembly tasks involving partially supported configurations, with horizons of up to nine steps. Project website: this https URL .

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-24 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2609.28281 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-08T12:21:19.506Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-24?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).