Robots discover causal tool features through VLM suggestions and physics-based counterfactual perturbations in simulation, then transfer manipulation skills via conditioned keypoint matching.
A survey of the ontogeny of tool use: From sensorimotor experience to planning.IEEE Transactions on Au- tonomous Mental Development, 5(1):18–45
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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.