[2602.23934] Learning to Build: Autonomous Robotic Assembly of Stable Structures Without Predefined Plans

Computer Science > Robotics arXiv:2602.23934 (cs) [Submitted on 27 Feb 2026] Title:Learning to Build: Autonomous Robotic Assembly of Stable Structures Without Predefined Plans Authors:Jingwen Wang, Johannes Kirschner, Paul Rolland, Luis Salamanca, Stefana Parascho View a PDF of the paper titled Learning to Build: Autonomous Robotic Assembly of Stable Structures Without Predefined Plans, by Jingwen Wang and 4 other authors View PDF HTML (experimental) 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 successor features, serves as the decision-making component. As a proof of concept, we evaluate the approach on a benchmark of 15 2D robotic assembly tasks of discrete block construction. Experiments using a real-world closed-loop robotic setup demonstrate the feasibility of the method and its ability to handle construction noise. The results suggest that our framework offers a promising direction for more adaptable and robust robotic construction in real-world environments. Subjects: Robotics (cs.RO); Machine Learning (cs.LG) Cite as: arXiv:2602.23934 [cs.RO]   (or arXiv:2602.23934v1...