Robots discover causal tool features through VLM suggestions and physics-based counterfactual perturbations in simulation, then transfer manipulation skills via conditioned keypoint matching.
kpam 2.0: Feedback control for category-level robotic manipulation.IEEE Robotics and Automation Letters, 6(2):2962–2969
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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.