Learning to Build: Autonomous Robotic Assembly of Stable Structures Without Predefined Plans

Excerpt

arXiv:2602.23934v2 Announce Type: replace-cross Abstract: This paper presents a novel autonomous robotic assembly framework for constructing stable structures without relying on predefined architectural blueprints. Instead of following fixed plans, construction tasks are defined through targets and obstacles, allowing the system to adapt more flexibly to environmental uncertainty and variations during the building process. A reinforcement learning (RL) policy, trained using deep Q-learning with