Preprint
Sep 2026
Robot Tool Design from Scratch via Behavior-Aware Hierarchical Optimization
The ability to design a tool for a task marks a level of intelligence beyond merely understanding, selecting, or using one. Existing methods for robotic tool design typically optimize a tool's continuous shape and action within a structure that is prescribed or generated beforehand, so the structure itself stays outsid...
Ying-Han Chen, Xi-Yao Tian, Yi-Zan Dai et al.
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