Understanding Physical Effects for Effective Tool-Use

@article{Zhang2022UnderstandingPE,
  title={Understanding Physical Effects for Effective Tool-Use},
  author={Zeyu Zhang and Ziyuan Jiao and Weiqi Wang and Yixin Zhu and Song-Chun Zhu and Hangxin Liu},
  journal={IEEE Robotics and Automation Letters},
  year={2022},
  volume={7},
  pages={9469-9476}
}
We present a robot learning and planning framework that produces an effective tool-use strategy with the least joint efforts, capable of handling objects different from training. Leveraging a Finite Element Method (FEM)-based simulator that reproduces fine-grained, continuous visual and physical effects given observed tool-use events, the essential physical properties contributing to the effects are identified through the proposed Iterative Deepening Symbolic Regression (IDSR) algorithm. We… 

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