Robots discover causal tool features through VLM suggestions and physics-based counterfactual perturbations in simulation, then transfer manipulation skills via conditioned keypoint matching.
Learning task-oriented grasping for tool manipulation from simu- lated self-supervision
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Creative Robot Tool Use by Counterfactual Reasoning
Robots discover causal tool features through VLM suggestions and physics-based counterfactual perturbations in simulation, then transfer manipulation skills via conditioned keypoint matching.