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BrickCraft-Duo: Efficient Dual-Arm Skill Learning and Refinement for Compositional Long-Horizon Assembly

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

Interlocking brick assembly provides a representative testbed for evaluating real-world robotic manipulation capabilities, where diverse structural designs, complex inter-step dependencies, intricate mechanical interactions and tight insertion tolerances pose substantial challenges. We present BrickCraft-Duo, a modular framework for long-horizon dual-arm collaborative assembly of interlocking bricks through data-efficient skill learning and composition. BrickCraft-Duo learns reusable single- and dual-arm assembly skills from diverse demonstrations, with bilateral symmetry alignment facilitatin

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