BrickCraft: 状況に応じた手動ガイダンスによる視覚運動スキル合成を用いた長期的なブロック組み立て
BrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly
ブロック組み立てを、参照ブロック基準の相対表現で分解し、状況に応じたマニュアルで空間ガイダンスを与える再利用可能なプリミティブスキルを合成して実行するフレームワークを提案。限られたデモから学習し、未知構造への汎化を実証した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
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著者: Jichuan Yu, Bowei Li, Zhenran Tang, Guanxing Lu, Chuxiong Hu, Ruixuan Liu, Changliu Liu
分類: cs.RO
原文アブストラクト
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 compositional 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 exhibits strong compositional generalization to unseen structures. The project website is available at https://intelligent-control-lab.github.io/BrickCraft.
