用梯度驱动的分层能量函数，实现双臂装配的快速自适应重规划。

There are many challenges in bimanual assembly, including high-level sequencing, multi-robot coordination, and low-level, contact-rich operations such as component mating. Task and motion planning (TAMP) methods, while effective in this domain, may be prohibitively slow to converge when adapting to disturbances that require new task sequencing and optimisation. These events are common during tight-tolerance assembly, where difficult-to-model dynamics such as friction or deformation require rapid replanning and reattempts. Moreover, defining explicit task sequences for assembly can be cumbersome, limiting flexibility when task replanning is required. To simplify this planning, we introduce a decentralised gradient-based framework that uses a piecewise continuous energy function through the automatic composition of adaptive potential functions. This approach generates sub-goals using only myopic optimisation, rather than long-horizon planning. It demonstrates effectiveness at solving long-horizon tasks due to the structure and adaptivity of the energy function. We show that our approach scales to physical bimanual assembly tasks for constructing tight-tolerance assemblies. In these experiments, we discover that our gradient-based rapid replanning framework generates automatic retries, coordinated motions and autonomous handovers in an emergent fashion.