BrickCraft composes reusable visuomotor skills via relative anchoring to partial structures and situated visual manuals to achieve long-horizon interlocking brick assembly from limited demonstrations with generalization to unseen designs.
Query-centric diffusion policy for generalizable robotic assembly
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Unsupervised skill mining with self-supervised compactness, alignment, and disentanglement losses yields a fixed skill library that improves multi-task and few-shot robotic manipulation when plugged into ACT and OpenVLA-OFT.
citing papers explorer
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BrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly
BrickCraft composes reusable visuomotor skills via relative anchoring to partial structures and situated visual manuals to achieve long-horizon interlocking brick assembly from limited demonstrations with generalization to unseen designs.
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SkillPlug: Unsupervised Skill Mining for Few-Shot Adaptation in Robotic Manipulation
Unsupervised skill mining with self-supervised compactness, alignment, and disentanglement losses yields a fixed skill library that improves multi-task and few-shot robotic manipulation when plugged into ACT and OpenVLA-OFT.