Abstract:Robots assisting us in factories or homes must learn to make use of objects as tools to perform tasks, e.g., a tray for carrying objects. We consider the problem of learning commonsense knowledge of when a tool may be useful and how its use may be composed with other tools to accomplish a highlevel task instructed by a human. We introduce a novel neural model, termed TANGO, for predicting task-specific tool interactions, trained using demonstrations from human teachers instructing a virtual robot in a physics … Show more
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