Avon and Somerset Police said occupants of the home were threatened and a mobile phone and cash were stolen in the incident on the evening of 31 December.
A search had been under way for Armstrong, Daniel Washbourne and Aaron Thomas after they failed to return to the category D prison.
Washbourne, 40, who has previous convictions for violence, was arrested in Bristol on Wednesday and appeared at Bristol Magistrates’ Court on Thursday charged with escaping lawful custody.
Meanwhile Thomas, 39, was arrested on Saturday after voluntarily handing himself in to police.
He was later charged with escaping lawful custody and is next due to appear in court in February.