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Learning to Design and Use Tools for Robotic Manipulation
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2026-03-02 19:20:44
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Learning to Design and Use Tools for Robotic Manipulation Learning to Design and Use Tools for Robotic Manipulation Ziang Liu * , Stephen Tian * , Michelle Guo , C. Karen Liu , Jiajun Wu Stanford University Paper arXiv Video Code (coming soon) A robot may need to use different tools to fetch an out-of-reach book (blue) or push it into the bookshelf (pink). Therefore, it should rapidly prototype tools for the tasks at hand. Abstract When limited by their own morphologies, humans and some species of animals have the remarkable ability to use objects from the environment toward accomplishing otherwise impossible tasks. Robots might similarly unlock a range of additional capabilities through tool use. Recent techniques for jointly optimizing morphology and control via deep learning are effective at designing locomotion agents. But while outputting a single morphology makes sense for locomotion, manipulation involves a variety of strategies depen...
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