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

Autonomous robotic assembly of interlocking bricks demands seamless integration of long-horizon task reasoning, spatial grounding, and fine-grained manipulation. This paper presents BrickCraft, a compositional framework designed for long-horizon and generalizable interlocking brick assembly. BrickCraft models the assembly process using a relative formulation, where each step is anchored to a reference brick within the partial structure, thereby decomposing complex tasks into a finite set of reusable primitive skills. BrickCraft bridges the gap between high-level assembly plans and physical execution through situated manuals, which provide explicit spatial guidance for learned visuomotor skills by projecting the assembly intent onto real-time robot observations. Finally, BrickCraft employs a modular execution pipeline that chains these spatially grounded skills to accomplish long-horizon assembly tasks. Extensive experimental validations demonstrate that BrickCraft acquires proficient assembly skills from a limited set of demonstrations and effectively composes them for diverse long-horizon assembly tasks. The project website is available at https://intelligent-control-lab.github.io/BrickCraft.