# Robotic LEGO Assembly and Disassembly from Human Demonstration

arXiv: https://arxiv.org/abs/2305.15667 · HTML: https://mlsanity.com/paper/2305.15667/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 May 2023.

## Built on by (most cited first, 2 of 2)

- [A Lightweight and Transferable Design for Robust LEGO Manipulation](https://mlsanity.com/paper/2309.02354/) (2023)
- [Brick-Composer: Using MLLMs for Assembly with Diverse Bricks](https://mlsanity.com/paper/2606.05445/) (2026)

## Abstract (arXiv)

This paper studies automatic prototyping using LEGO. To satisfy individual needs and self-sustainability, this paper presents a framework that learns the assembly and disassembly sequences from human demonstrations. In addition, a digital twin is developed to verify the correctness of robot learning before deploying to the real world. Moreover, an end-effector tool (EOT) is designed, which allows large industrial robots to easily manipulate LEGO bricks. The proposed system is deployed to a FANUC LR-mate 200id/7L robot. Experiments demonstrate that the proposed system can effectively learn the assembly and disassembly tasks from human demonstrations. And the learned tasks are realized by the FANUC robot.