GET-USE: Learning Generalized Tool Usage for Bimanual Mobile Manipulation via Simulated Embodiment Extensions

Description

The ability to use random objects as tools in a generalizable manner is a missing piece in robots' intelligence today to boost their versatility and problem-solving capabilities. State-of-the-art robotic tool usage methods focused on procedurally generating or crowd-sourcing datasets of tools for a task to learn how to grasp and manipulate them for that task. However, these methods assume that only one object is provided and that it is possible, with the correct grasp, to perform the task; they

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