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

arXiv: https://arxiv.org/abs/2605.07605 · HTML: https://mlsanity.com/paper/2605.07605/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 May 2026.

## Built on by (most cited first, 1 of 1)

- [ScaffoldM3C: A Multimodal Sequential Monte Carlo Framework for Generative Stable Construction Planning](https://mlsanity.com/paper/2610.00487/) (2026)

## Abstract (arXiv)

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.