{"paper":{"title":"GROW$^2$: Grounding Which and Where for Robot Tool Use","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CV"],"primary_cat":"cs.RO","authors_text":"David Hsu, Yuhong Deng, Yuyao Liu","submitted_at":"2026-06-29T17:56:53Z","abstract_excerpt":"Can the robot use a plate to cut a cake if no knife is available? Tool use greatly expands robot capabilities, but to use tools creatively beyond their intended functions, the robot faces the challenge of $\\textit{open-world affordance grounding}$: select an open-category object to act as a tool and localize its specific region of action. To this end, we introduce GROW$^2$ (GROunding Which and Where), which leverages object parts as a natural abstraction to split the grounding process hierarchically into semantic and geometric levels, thus bypassing the need for data-heavy, end-to-end training"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.30632","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.30632/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}