{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T05:06:32Z","timestamp":1773723992813,"version":"3.50.1"},"reference-count":174,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2023,1,16]],"date-time":"2023-01-16T00:00:00Z","timestamp":1673827200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>Using human tools can significantly benefit robots in many application domains. Such ability would allow robots to solve problems that they were unable to without tools. However, robot tool use is a challenging task. Tool use was initially considered to be the ability that distinguishes human beings from other animals. We identify three skills required for robot tool use: perception, manipulation, and high-level cognition skills. While both general manipulation tasks and tool use tasks require the same level of perception accuracy, there are unique manipulation and cognition challenges in robot tool use. In this survey, we first define robot tool use. The definition highlighted the skills required for robot tool use. The skills coincide with an affordance model which defined a three-way relation between actions, objects, and effects. We also compile a taxonomy of robot tool use with insights from animal tool use literature. Our definition and taxonomy lay a theoretical foundation for future robot tool use studies and also serve as practical guidelines for robot tool use applications. We first categorize tool use based on the context of the task. The contexts are highly similar for the same task (e.g., cutting) in<jats:italic>non-causal tool use<\/jats:italic>, while the contexts for<jats:italic>causal tool use<\/jats:italic>are diverse. We further categorize causal tool use based on the task complexity suggested in animal tool use studies into<jats:italic>single-manipulation tool use<\/jats:italic>and<jats:italic>multiple-manipulation tool use<\/jats:italic>. Single-manipulation tool use are sub-categorized based on tool features and prior experiences of tool use. This type of tool may be considered as building blocks of causal tool use. Multiple-manipulation tool use combines these building blocks in different ways. The different combinations categorize multiple-manipulation tool use. Moreover, we identify different skills required in each sub-type in the taxonomy. We then review previous studies on robot tool use based on the taxonomy and describe how the relations are learned in these studies. We conclude with a discussion of the current applications of robot tool use and open questions to address future robot tool use.<\/jats:p>","DOI":"10.3389\/frobt.2022.1009488","type":"journal-article","created":{"date-parts":[[2023,1,16]],"date-time":"2023-01-16T05:08:44Z","timestamp":1673845724000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":16,"title":["Robot tool use: A survey"],"prefix":"10.3389","volume":"9","author":[{"given":"Meiying","family":"Qin","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jake","family":"Brawer","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Brian","family":"Scassellati","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1965","published-online":{"date-parts":[[2023,1,16]]},"reference":[{"key":"B1","doi-asserted-by":"crossref","first-page":"4923","DOI":"10.1109\/IROS.2017.8206372","article-title":"Learning how a tool affords by simulating 3d models from the web","volume-title":"2017 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Abelha","year":"2017"},{"key":"B2","doi-asserted-by":"crossref","first-page":"2471","DOI":"10.1109\/ICRA.2016.7487400","article-title":"A model-based approach to finding substitute tools in 3d vision data","volume-title":"2016 IEEE international conference on robotics and automation (ICRA)","author":"Abelha","year":"2016"},{"key":"B3","doi-asserted-by":"crossref","first-page":"6479","DOI":"10.1109\/IROS.2015.7354303","article-title":"Using structural bootstrapping for object substitution in robotic executions of human-like manipulation tasks","volume-title":"2015 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Agostini","year":"2015"},{"key":"B4","doi-asserted-by":"publisher","first-page":"464","DOI":"10.2307\/2407020","article-title":"The evolution of the use of tools by feeding animals","volume":"26","author":"Alcock","year":"1972","journal-title":"Evolution"},{"key":"B5","first-page":"145","volume-title":"Tool using behavior and language in primates.","author":"Asano","year":"1994"},{"key":"B6","volume-title":"Animal tool behavior: The use and manufacture of tools by animals","author":"Beck","year":"1980"},{"key":"B7","doi-asserted-by":"publisher","first-page":"213","DOI":"10.1007\/s10071-003-0183-x","article-title":"Cultural innovation and transmission of tool use in wild chimpanzees: Evidence from field experiments","volume":"6","author":"Biro","year":"2003","journal-title":"Anim. Cogn."},{"key":"B8","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1017\/CBO9780511894800.003","article-title":"Ecology and cognition of tool use in chimpanzees","volume-title":"Tool use in animals: Cognition and ecology","author":"Boesch","year":"2013"},{"key":"B9","doi-asserted-by":"crossref","first-page":"3000","DOI":"10.1109\/ICRA.2017.7989344","article-title":"Iteratively learned and temporally scaled force control with application to robotic assembly in unstructured environments","volume-title":"2017 IEEE international conference on robotics and automation (ICRA)","author":"B\u00f6s","year":"2017"},{"key":"B10","doi-asserted-by":"crossref","first-page":"616","DOI":"10.1109\/HUMANOIDS.2014.7041426","article-title":"Generalizing pouring actions between objects using warped parameters","volume-title":"2014 IEEE-RAS international conference on humanoid robots","author":"Brandi","year":"2014"},{"key":"B11","doi-asserted-by":"crossref","first-page":"8394","DOI":"10.1109\/IROS45743.2020.9341262","article-title":"A causal approach to tool affordance learning","volume-title":"2020 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Brawer","year":"2020"},{"key":"B12","doi-asserted-by":"publisher","first-page":"e380","DOI":"10.1371\/journal.pbio.0030380","article-title":"First observation of tool use in wild gorillas","volume":"3","author":"Breuer","year":"2005","journal-title":"PLoS Biol."},{"key":"B13","doi-asserted-by":"crossref","first-page":"173","DOI":"10.1109\/ICRA.2017.7989023","article-title":"Se3-nets: Learning rigid body motion using deep neural networks","volume-title":"2017 IEEE international conference on robotics and automation (ICRA)","author":"Byravan","year":"2017"},{"key":"B14","doi-asserted-by":"publisher","first-page":"560669","DOI":"10.3389\/fpsyg.2020.560669","article-title":"Neural processes underlying tool use in humans, macaques, and corvids","volume":"11","author":"Cabrera-\u00c1lvarez","year":"2020","journal-title":"Front. Psychol."},{"key":"B15","article-title":"Affordances as a framework for robot control","volume-title":"Proceedings of the 7th international conference on epigenetic robotics epirob\u201907","author":"Cakmak","year":"2007"},{"key":"B16","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1017\/CBO9780511894800.002","article-title":"Three ingredients for becoming a creative tool user","volume-title":"Tool use in animals: Cognition and ecology","author":"Call","year":"2013"},{"key":"B17","doi-asserted-by":"crossref","first-page":"446","DOI":"10.1109\/Humanoids43949.2019.9035036","article-title":"Combined task and motion planning for a dual-arm robot to use a suction cup tool","volume-title":"IEEE-RAS 19th international conference on humanoid robots (humanoids)","author":"Chen","year":"2019"},{"key":"B18","doi-asserted-by":"publisher","first-page":"561","DOI":"10.1017\/s0140525x00057678","article-title":"Spontaneous tool use and sensorimotor intelligence in cebus compared with other monkeys and apes","volume":"12","author":"Chevalier-Skolnikoff","year":"1989","journal-title":"Behav. brain Sci."},{"key":"B19","doi-asserted-by":"crossref","first-page":"1980","DOI":"10.1109\/IROS.2011.6094531","article-title":"Generalising human demonstration data by identifying affordance symmetries in object interaction trajectories","volume-title":"2011 IEEE\/RSJ international conference on intelligent robots and systems","author":"Claassens","year":"2011"},{"key":"B20","doi-asserted-by":"crossref","first-page":"140","DOI":"10.1109\/IROS.1995.525875","article-title":"Issues in the haptic display of tool use","volume-title":"Proceedings 1995 IEEE\/RSJ international conference on intelligent robots and systems. Human robot interaction and cooperative robots","author":"Colgate","year":"1995"},{"key":"B21","doi-asserted-by":"crossref","first-page":"4866","DOI":"10.1109\/ICRA.2016.7487691","article-title":"Denoising auto-encoders for learning of objects and tools affordances in continuous space","volume-title":"2016 IEEE international conference on robotics and automation (ICRA)","author":"Dehban","year":"2016"},{"key":"B22","doi-asserted-by":"crossref","first-page":"3266","DOI":"10.1109\/IROS.2017.8206162","article-title":"Task-oriented grasping with semantic and geometric scene understanding","volume-title":"2017 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Detry","year":"2017"},{"key":"B23","doi-asserted-by":"crossref","first-page":"2313","DOI":"10.1109\/IROS.2010.5652704","article-title":"On contact models for assembly tasks: Experimental investigation beyond the peg-in-hole problem on the example of force-torque maps","volume-title":"2010 IEEE\/RSJ international conference on intelligent robots and systems","author":"Dietrich","year":"2010"},{"key":"B24","doi-asserted-by":"crossref","first-page":"5875","DOI":"10.1109\/IROS40897.2019.8967911","article-title":"Precision pouring into unknown containers by service robots","volume-title":"2019 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Dong","year":"2019"},{"key":"B25","doi-asserted-by":"crossref","first-page":"229","DOI":"10.1109\/DEVLRN.2014.6982986","article-title":"Learning a repertoire of actions with deep neural networks","volume-title":"4th international conference on development and learning and on epigenetic robotics","author":"Droniou","year":"2014"},{"key":"B26","article-title":"Exploring affordances in robot grasping through latent structure representation","author":"Ek","year":"2010","journal-title":"Vis. Cognitive Tasks"},{"key":"B27","doi-asserted-by":"crossref","first-page":"1623","DOI":"10.1109\/ICRA.2018.8460915","article-title":"Robotic cleaning through dirt rearrangement planning with learned transition models","volume-title":"2018 IEEE international conference on robotics and automation (ICRA)","author":"Elliott","year":"2018"},{"key":"B28","doi-asserted-by":"crossref","first-page":"4851","DOI":"10.1109\/ICRA.2016.7487689","article-title":"Making objects graspable in confined environments through push and pull manipulation with a tool","volume-title":"2016 IEEE international conference on robotics and automation (ICRA)","author":"Elliott","year":"2016"},{"key":"B29","doi-asserted-by":"crossref","first-page":"993","DOI":"10.1109\/ROMAN.2017.8172424","article-title":"Learning generalizable surface cleaning actions from demonstration","volume-title":"2017 26th IEEE international symposium on robot and human interactive communication (RO-MAN)","author":"Elliott","year":"2017"},{"key":"B30","doi-asserted-by":"publisher","first-page":"202","DOI":"10.1177\/0278364919872545","article-title":"Learning task-oriented grasping for tool manipulation from simulated self-supervision","volume":"39","author":"Fang","year":"2020","journal-title":"Int. J. Robotics Res."},{"key":"B31","first-page":"1350","article-title":"Human-guided trajectory adaptation for tool transfer","author":"Fitzgerald","year":"2019","journal-title":"Proc. 18th Int. Conf. Aut. Agents MultiAgent Syst."},{"key":"B32","doi-asserted-by":"crossref","first-page":"3965","DOI":"10.1109\/IROS.2016.7759584","article-title":"Modular active curiosity-driven discovery of tool use","volume-title":"2016 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Forestier","year":"2016"},{"key":"B33","doi-asserted-by":"publisher","first-page":"317","DOI":"10.1016\/b978-0-12-804042-3.00087-7","article-title":"Tool use in nonhuman primates: Natural history, ontogenetic development and social supports for learning","author":"Fragaszy","year":"2017","journal-title":"Evol. Nerv. Syst."},{"key":"B34","doi-asserted-by":"crossref","first-page":"1345","DOI":"10.1109\/ICRA.2019.8793590","article-title":"Adapting everyday manipulation skills to varied scenarios","volume-title":"2019 international conference on robotics and automation (ICRA)","author":"Gajewski","year":"2019"},{"key":"B35","doi-asserted-by":"publisher","first-page":"2962","DOI":"10.1109\/lra.2021.3062315","article-title":"Kpam 2.0: Feedback control for category-level robotic manipulation","volume":"6","author":"Gao","year":"2021","journal-title":"IEEE Robotics Automation Lett."},{"key":"B36","doi-asserted-by":"crossref","first-page":"5717","DOI":"10.1109\/IROS.2017.8206462","article-title":"Toolnet: Holistically-nested real-time segmentation of robotic surgical tools","volume-title":"2017 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Garcia-Peraza-Herrera","year":"2017"},{"key":"B37","doi-asserted-by":"publisher","first-page":"265","DOI":"10.1146\/annurev-control-091420-084139","article-title":"Integrated task and motion planning","volume":"4","author":"Garrett","year":"2021","journal-title":"Annu. Rev. control, robotics, Aut. Syst."},{"key":"B38","doi-asserted-by":"crossref","first-page":"638","DOI":"10.1109\/IROS.2014.6942626","article-title":"Learning haptic representation for manipulating deformable food objects","volume-title":"2014 IEEE\/RSJ international conference on intelligent robots and systems","author":"Gemici","year":"2014"},{"key":"B132","volume-title":"The Ecological Approach to Visual Perception","author":"Gibson","year":"1979"},{"key":"B39","first-page":"482","article-title":"Learning intermediate object affordances: Towards the development of a tool concept","volume-title":"4th international conference on development and learning and on epigenetic robotics","author":"Gon\u00e7alves","year":""},{"key":"B40","first-page":"128","article-title":"Learning visual affordances of objects and tools through autonomous robot exploration","volume-title":"2014 IEEE international conference on autonomous robot systems and competitions (ICARSC)","author":"Gon\u00e7alves","year":""},{"key":"B41","doi-asserted-by":"publisher","first-page":"1264","DOI":"10.1038\/2011264a0","article-title":"Tool-using and aimed throwing in a community of free-living chimpanzees","volume":"201","author":"Goodall","year":"1964","journal-title":"Nature"},{"key":"B42","doi-asserted-by":"crossref","first-page":"6313","DOI":"10.1109\/ICRA.2014.6907790","article-title":"Automated assembly skill acquisition through human demonstration","volume-title":"2014 IEEE international conference on robotics and automation (ICRA)","author":"Gu","year":"2014"},{"key":"B43","doi-asserted-by":"publisher","first-page":"669","DOI":"10.1109\/tcds.2019.2921098","article-title":"Robot manipulation in open environments: New perspectives","volume":"12","author":"Guerin","year":"2019","journal-title":"IEEE Trans. cognitive Dev. Syst."},{"key":"B44","doi-asserted-by":"crossref","first-page":"5908","DOI":"10.1109\/IROS.2013.6697213","article-title":"Minimalist plans for interpreting manipulation actions","volume-title":"2013 IEEE\/RSJ international conference on intelligent robots and systems","author":"Guha","year":"2013"},{"key":"B45","doi-asserted-by":"crossref","first-page":"5040","DOI":"10.1109\/IROS.2016.7759740","article-title":"Sequential quadratic programming for task plan optimization","volume-title":"2016 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Hadfield-Menell","year":"2016"},{"key":"B46","doi-asserted-by":"publisher","first-page":"833","DOI":"10.1016\/j.robot.2014.02.001","article-title":"Adaptive robotic tool use under variable grasps","volume":"62","author":"Hoffmann","year":"2014","journal-title":"Robotics Aut. Syst."},{"key":"B47","doi-asserted-by":"crossref","first-page":"7409","DOI":"10.1109\/IROS40897.2019.8967889","article-title":"Force-and-motion constrained planning for tool use","volume-title":"2019 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Holladay","year":"2019"},{"key":"B48","article-title":"Learning to recognize human activities from soft labeled data","volume-title":"Robotics: Science and systems","author":"Hu","year":"2014"},{"key":"B49","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1017\/CBO9780511894800.007","article-title":"Why is tool use rare in animals","volume-title":"Tool use in animals: Cognition and ecology","author":"Hunt","year":"2013"},{"key":"B50","doi-asserted-by":"publisher","first-page":"328","DOI":"10.1162\/neco_a_00393","article-title":"Dynamical movement primitives: Learning attractor models for motor behaviors","volume":"25","author":"Ijspeert","year":"2013","journal-title":"Neural Comput."},{"key":"B51","doi-asserted-by":"crossref","first-page":"1398","DOI":"10.1109\/ROBOT.2002.1014739","article-title":"Movement imitation with nonlinear dynamical systems in humanoid robots","volume-title":"Proceedings 2002 IEEE international conference on robotics and automation (cat. No. 02CH37292)","author":"Ijspeert","year":"2002"},{"key":"B52","first-page":"8","article-title":"A survey and analysis of cooperative multi-agent robot systems: Challenges and directions","volume-title":"Applications of mobile robots (IntechOpen)","author":"Ismail","year":"2018"},{"key":"B53","doi-asserted-by":"publisher","first-page":"95","DOI":"10.1007\/s10015-013-0105-1","article-title":"Bayesian learning of tool affordances based on generalization of functional feature to estimate effects of unseen tools","volume":"18","author":"Jain","year":"2013","journal-title":"Artif. Life Robotics"},{"key":"B54","doi-asserted-by":"crossref","first-page":"4811","DOI":"10.1109\/ICRA.2013.6631263","article-title":"Online learning of humanoid robot kinematics under switching tools contexts","volume-title":"2013 IEEE international conference on robotics and automation","author":"Jamone","year":"2013"},{"key":"B55","doi-asserted-by":"publisher","first-page":"4","DOI":"10.1109\/tcds.2016.2594134","article-title":"Affordances in psychology, neuroscience, and robotics: A survey","volume":"10","author":"Jamone","year":"2016","journal-title":"IEEE Trans. Cognitive Dev. Syst."},{"key":"B56","doi-asserted-by":"crossref","first-page":"2488","DOI":"10.1109\/ICRA.2014.6907206","article-title":"Online contact point estimation for uncalibrated tool use","volume-title":"2014 IEEE international conference on robotics and automation (ICRA)","author":"Karayiannidis","year":"2014"},{"key":"B57","article-title":"Learning to manipulate articulated objects in unstructured environments using a grounded relational representation","volume-title":"Robotics: Science and systems","author":"Katz","year":"2008"},{"key":"B58","doi-asserted-by":"publisher","first-page":"369","DOI":"10.1007\/s10514-014-9407-y","article-title":"Perceiving, learning, and exploiting object affordances for autonomous pile manipulation","volume":"37","author":"Katz","year":"2014","journal-title":"Aut. Robots"},{"key":"B59","doi-asserted-by":"crossref","first-page":"6185","DOI":"10.1109\/ICRA48506.2021.9561662","article-title":"Grasping with chopsticks: Combating covariate shift in model-free imitation learning for fine manipulation","volume-title":"2021 IEEE international conference on robotics and automation(ICRA)","author":"Ke","year":"2021"},{"key":"B60","article-title":"Robot manipulation of human tools: Autonomous detection and control of task relevant features","volume-title":"Proc. Of the fifth intl. Conference on development and learning","author":"Kemp","year":"2006"},{"key":"B61","doi-asserted-by":"crossref","first-page":"877","DOI":"10.1109\/IROS.2014.6942663","article-title":"Robotic handwriting: Multi-contact manipulation based on reactional internal contact hypothesis","volume-title":"2014 IEEE\/RSJ international conference on intelligent robots and systems","author":"Kim","year":"2014"},{"key":"B62","doi-asserted-by":"crossref","first-page":"3107","DOI":"10.1109\/IROS.2009.5354266","article-title":"Planning-space shift learning: Variable-space motion planning toward flexible extension of body schema","volume-title":"2009 IEEE\/RSJ international conference on intelligent robots and systems","author":"Kobayashi","year":"2009"},{"key":"B63","doi-asserted-by":"crossref","first-page":"834","DOI":"10.1109\/IROS.2008.4650953","article-title":"Learning perceptual coupling for motor primitives","volume-title":"2008 IEEE\/RSJ international conference on intelligent robots and systems","author":"Kober","year":"2008"},{"key":"B64","doi-asserted-by":"publisher","first-page":"233","DOI":"10.1016\/j.procir.2022.02.184","article-title":"A methods-time-measurement based approach to enable action recognition for multi-variant assembly in human-robot collaboration","volume":"106","author":"Koch","year":"2022","journal-title":"Procedia CIRP"},{"key":"B65","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1109\/HUMANOIDS.2017.8239542","article-title":"Affordance detection for task-specific grasping using deep learning","volume-title":"2017 IEEE-RAS 17th international conference on humanoid robotics (humanoids)","author":"Kokic","year":"2017"},{"key":"B66","doi-asserted-by":"crossref","first-page":"3970","DOI":"10.1109\/ICRA.2011.5979537","article-title":"Upper-body kinesthetic teaching of a free-standing humanoid robot","volume-title":"2011 IEEE international conference on robotics and automation","author":"Kormushev","year":"2011"},{"key":"B67","first-page":"1395","article-title":"A review of robot learning for manipulation: Challenges, representations, and algorithms","volume":"22","author":"Kroemer","year":"2021","journal-title":"J. Mach. Learn. Res."},{"key":"B68","doi-asserted-by":"crossref","first-page":"2605","DOI":"10.1109\/ICRA.2012.6224957","article-title":"A kernel-based approach to direct action perception","volume-title":"2012 IEEE international conference on robotics and automation","author":"Kroemer","year":"2012"},{"key":"B69","doi-asserted-by":"publisher","first-page":"8939","DOI":"10.1073\/pnas.0500232102","article-title":"Cultural transmission of tool use in bottlenose dolphins","volume":"102","author":"Kr\u00fctzen","year":"2005","journal-title":"Proc. Natl. Acad. Sci."},{"key":"B70","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2020.XVI.056","article-title":"Fourier movement primitives: An approach for learning rhythmic robot skills from demonstrations","volume-title":"Robotics: Science and systems","author":"Kulak","year":"2020"},{"key":"B71","doi-asserted-by":"publisher","first-page":"395","DOI":"10.20965\/jrm.2017.p0395","article-title":"A control system for a tool use robot: Drawing a circle by educing functions of a compass","volume":"29","author":"Kutsuzawa","year":"2017","journal-title":"J. Robotics Mechatronics"},{"key":"B72","first-page":"2867","article-title":"Association of whole body motion from tool knowledge for humanoid robots","volume-title":"2008 IEEE\/RSJ international conference on intelligent robots and systems (IEEE)","author":"Lee","year":"2008"},{"key":"B73","doi-asserted-by":"crossref","first-page":"8436","DOI":"10.1109\/ICRA48506.2021.9561912","article-title":"Real-time obstacle avoidance with a virtual torque approach for a robotic tool in the end effector","volume-title":"2021 IEEE international conference on robotics and automation (ICRA)","author":"Lee","year":"2021"},{"key":"B74","doi-asserted-by":"publisher","first-page":"367","DOI":"10.1177\/053901899038003002","article-title":"Tools, techniques and animals: The role of mediations of actions in the dynamics of social behaviours","volume":"38","author":"Lestel","year":"1999","journal-title":"Soc. Sci. Inf."},{"key":"B75","doi-asserted-by":"crossref","first-page":"2502","DOI":"10.1109\/IROS.2014.6942903","article-title":"Using environment objects as tools: Unconventional door opening","volume-title":"2014 IEEE\/RSJ international conference on intelligent robots and systems (IEEE)","author":"Levihn","year":"2014"},{"key":"B76","first-page":"1","article-title":"Push-net: Deep planar pushing for objects with unknown physical properties","volume":"14","author":"Li","year":"2018","journal-title":"Robotics Sci. Syst."},{"key":"B77","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/tase.2019.2958712","article-title":"Unfastening of hexagonal headed screws by a collaborative robot","volume":"17","author":"Li","year":"2020","journal-title":"IEEE Trans. Automation Sci. Eng."},{"key":"B78","doi-asserted-by":"publisher","first-page":"3961","DOI":"10.1109\/lra.2022.3149026","article-title":"A sim-to-real object recognition and localization framework for industrial robotic bin picking","volume":"7","author":"Li","year":"2022","journal-title":"IEEE Robotics Automation Lett."},{"key":"B79","doi-asserted-by":"publisher","first-page":"26","DOI":"10.1177\/0278364914555544","article-title":"Robot grasp planning based on demonstrated grasp strategies","volume":"34","author":"Lin","year":"2015","journal-title":"Int. J. Robotics Res."},{"key":"B80","doi-asserted-by":"publisher","first-page":"879","DOI":"10.1177\/0278364917713116","article-title":"Learning movement primitive libraries through probabilistic segmentation","volume":"36","author":"Lioutikov","year":"2017","journal-title":"Int. J. Robotics Res."},{"key":"B81","doi-asserted-by":"crossref","first-page":"1118","DOI":"10.1109\/ICRA.2018.8462901","article-title":"Imitation from observation: Learning to imitate behaviors from raw video via context translation","volume-title":"2018 IEEE international conference on robotics and automation (ICRA)","author":"Liu","year":"2018"},{"key":"B82","doi-asserted-by":"publisher","first-page":"36","DOI":"10.1007\/s10071-005-0002-7","article-title":"What is the role of mothers in the acquisition of termite-fishing behaviors in wild chimpanzees (pan troglodytes schweinfurthii)?","volume":"9","author":"Lonsdorf","year":"2006","journal-title":"Anim. Cogn."},{"key":"B83","doi-asserted-by":"publisher","first-page":"92","DOI":"10.1016\/j.robot.2019.05.005","article-title":"Context-based affordance segmentation from 2d images for robot actions","volume":"119","author":"Lueddecke","year":"2019","journal-title":"Robotics Aut. Syst."},{"key":"B84","doi-asserted-by":"crossref","first-page":"1854","DOI":"10.1109\/IROS.2013.6696601","article-title":"A practical approach to generalized hierarchical task specification for indirect force controlled robots","volume-title":"2013 IEEE\/RSJ international conference on intelligent robots and systems","author":"Lutscher","year":"2013"},{"key":"B85","first-page":"1","article-title":"Robot bring me something to drink from\u201d: object representation for transferring task specific grasps","volume-title":"ICRA Workshop on semantic perception, mapping and exploration","author":"Madry","year":"2012"},{"key":"B86","first-page":"132","article-title":"kpam: Keypoint affordances for category-level robotic manipulation","volume-title":"The international symposium of robotics research","author":"Manuelli","year":"2019"},{"key":"B87","doi-asserted-by":"crossref","first-page":"3200","DOI":"10.1109\/ICRA.2015.7139640","article-title":"Self-supervised learning of grasp dependent tool affordances on the icub humanoid robot","volume-title":"2015 IEEE international conference on robotics and automation (ICRA)","author":"Mar","year":"2015"},{"key":"B88","doi-asserted-by":"crossref","first-page":"894","DOI":"10.1109\/ICRA.2017.7989110","article-title":"Self-supervised learning of tool affordances from 3d tool representation through parallel som mapping","volume-title":"2017 IEEE international conference on robotics and automation (ICRA)","author":"Mar","year":"2017"},{"key":"B89","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1146\/annurev-control-060117-104848","article-title":"Toward robotic manipulation","volume":"1","author":"Mason","year":"2018","journal-title":"Annu. Rev. Control, Robotics, Aut. Syst."},{"key":"B90","first-page":"645","volume-title":"Communication and tool use in chimpanzees: Cultural and social contexts","author":"Matsuzawa","year":"1999"},{"key":"B91","doi-asserted-by":"publisher","first-page":"844","DOI":"10.1109\/lra.2020.2965875","article-title":"Object-centric task and motion planning in dynamic environments","volume":"5","author":"Migimatsu","year":"2020","journal-title":"IEEE Robotics Automation Lett."},{"key":"B92","doi-asserted-by":"crossref","first-page":"1290","DOI":"10.1109\/ICRA.2013.6630737","article-title":"On the use of probabilistic relational affordance models for sequential manipulation tasks in robotics","volume-title":"2013 IEEE international conference on robotics and automation","author":"Moldovan","year":"2013"},{"key":"B93","doi-asserted-by":"crossref","first-page":"4373","DOI":"10.1109\/ICRA.2012.6225042","article-title":"Learning relational affordance models for robots in multi-object manipulation tasks","volume-title":"2012 ieee international conference on robotics and automation","author":"Moldovan","year":"2012"},{"key":"B94","doi-asserted-by":"publisher","first-page":"15","DOI":"10.1109\/tro.2007.914848","article-title":"Learning object affordances: From sensory\u2013motor coordination to imitation","volume":"24","author":"Montesano","year":"2008","journal-title":"IEEE Trans. Robotics"},{"key":"B95","doi-asserted-by":"crossref","first-page":"4102","DOI":"10.1109\/IROS.2007.4399511","article-title":"Modeling affordances using bayesian networks","volume-title":"2007 IEEE\/RSJ international conference on intelligent robots and systems","author":"Montesano","year":"2007"},{"key":"B96","doi-asserted-by":"crossref","first-page":"411","DOI":"10.1109\/ICHR.2010.5686298","article-title":"Learning table tennis with a mixture of motor primitives","volume-title":"2010 10th IEEE-RAS international conference on humanoid robots","author":"Muelling","year":"2010"},{"key":"B97","article-title":"Same object, different grasps: Data and semantic knowledge for task-oriented grasping","volume-title":"Conference on robot learning","author":"Murali","year":"2020"},{"key":"B98","doi-asserted-by":"crossref","first-page":"1374","DOI":"10.1109\/ICRA.2015.7139369","article-title":"Affordance detection of tool parts from geometric features","volume-title":"2015 IEEE international conference on robotics and automation (ICRA)","author":"Myers","year":"2015"},{"key":"B99","doi-asserted-by":"crossref","first-page":"288","DOI":"10.1109\/DEVLRN.2007.4354031","article-title":"Towards a model for tool-body assimilation and adaptive tool-use","volume-title":"2007 IEEE 6th international conference on development and learning","author":"Nabeshima","year":"2007"},{"key":"B100","doi-asserted-by":"crossref","first-page":"7","DOI":"10.1109\/DEVLRN.2005.1490935","article-title":"Timing-based model of body schema adaptation and its role in perception and tool use: A robot case study","volume-title":"Proceedings. The 4th international conference on development and learning, 2005","author":"Nabeshima","year":"2005"},{"key":"B101","doi-asserted-by":"crossref","first-page":"319","DOI":"10.1109\/ROBOT.2001.1620978","article-title":"Furniture polishing robot using a trajectory generator based on cutter location data","volume-title":"Proceedings 2001 ICRA. IEEE international conference on robotics and automation (cat. No. 01CH37164)","author":"Nagata","year":"2001"},{"key":"B102","first-page":"5837","article-title":"Tool macgyvering: Tool construction using geometric reasoning","volume-title":"2019 international conference on robotics and automation (ICRA)","author":"Nair","year":""},{"key":"B103","article-title":"Autonomous tool construction using part shape and attachment prediction","volume-title":"Robotics: Science and systems","author":"Nair","year":""},{"key":"B104","doi-asserted-by":"crossref","first-page":"5410","DOI":"10.1109\/IROS.2010.5652296","article-title":"Object concept modeling based on the relationship among appearance, usage and functions","volume-title":"2010 IEEE\/RSJ international conference on intelligent robots and systems","author":"Nakamura","year":"2010"},{"key":"B105","doi-asserted-by":"publisher","first-page":"139","DOI":"10.1109\/tamd.2011.2177660","article-title":"Tool\u2013body assimilation of humanoid robot using a neurodynamical system","volume":"4","author":"Nishide","year":"2011","journal-title":"IEEE Trans. Aut. Ment. Dev."},{"key":"B106","doi-asserted-by":"publisher","first-page":"115","DOI":"10.1016\/s0016-7878(44)80012-8","article-title":"Man the tool-maker","volume":"55","author":"Oakley","year":"1944","journal-title":"Proc. Geologists\u2019 Assoc."},{"key":"B107","doi-asserted-by":"crossref","first-page":"7","DOI":"10.1109\/ICHR.2006.321356","article-title":"Vision based behavior verification system of humanoid robot for daily environment tasks","volume-title":"2006 6th IEEE-RAS international conference on humanoid robots","author":"Okada","year":"2006"},{"key":"B108","article-title":"Probabilistic movement primitives","volume":"26","author":"Paraschos","year":"2013","journal-title":"Adv. neural Inf. Process. Syst."},{"key":"B109","doi-asserted-by":"publisher","first-page":"623","DOI":"10.1016\/s0047-2484(77)80135-8","article-title":"Object manipulation, tool use and sensorimotor intelligence as feeding adaptations in cebus monkeys and great apes","volume":"6","author":"Parker","year":"1977","journal-title":"J. Hum. Evol."},{"key":"B110","doi-asserted-by":"crossref","first-page":"763","DOI":"10.1109\/ROBOT.2009.5152385","article-title":"Learning and generalization of motor skills by learning from demonstration","volume-title":"2009 IEEE international conference on robotics and automation","author":"Pastor","year":"2009"},{"key":"B111","doi-asserted-by":"crossref","first-page":"3828","DOI":"10.1109\/ICRA.2011.5980200","article-title":"Skill learning and task outcome prediction for manipulation","volume-title":"2011 IEEE international conference on robotics and automation","author":"Pastor","year":"2011"},{"key":"B112","doi-asserted-by":"crossref","first-page":"1497","DOI":"10.1109\/ICRA.2015.7139387","article-title":"Human-in-the-loop approach for teaching robot assembly tasks using impedance control interface","volume-title":"2015 IEEE international conference on robotics and automation (ICRA)","author":"Peternel","year":"2015"},{"key":"B113","doi-asserted-by":"crossref","first-page":"2219","DOI":"10.1109\/IROS.2006.282564","article-title":"Policy gradient methods for robotics","volume-title":"2006 IEEE\/RSJ international conference on intelligent robots and systems","author":"Peters","year":"2006"},{"key":"B114","doi-asserted-by":"crossref","first-page":"6142","DOI":"10.1109\/IROS.2017.8206515","article-title":"Nut fastening with a humanoid robot","volume-title":"2017 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Pfeiffer","year":"2017"},{"key":"B115","doi-asserted-by":"publisher","first-page":"726463","DOI":"10.3389\/frobt.2021.726463","article-title":"Rapidly learning generalizable and robot-agnostic tool-use skills for a wide range of tasks","volume":"8","author":"Qin","year":"2021","journal-title":"Front. Robotics AI"},{"key":"B116","doi-asserted-by":"crossref","DOI":"10.1109\/RO-MAN53752.2022.9900599","article-title":"Task-oriented robot-to-human handovers in collaborative tool-use tasks","volume-title":"2022 31th IEEE international conference on robot and human interactive communication (RO-MAN)","author":"Qin","year":"2022"},{"key":"B117","doi-asserted-by":"crossref","first-page":"7278","DOI":"10.1109\/ICRA40945.2020.9196971","article-title":"Keto: Learning keypoint representations for tool manipulation","volume-title":"2020 IEEE international conference on robotics and automation (ICRA)","author":"Qin","year":"2020"},{"key":"B118","doi-asserted-by":"publisher","first-page":"54","DOI":"10.1049\/trit.2018.1062","article-title":"Teaching a robot to use electric tools with regrasp planning","volume":"4","author":"Raessa","year":"2019","journal-title":"CAAI Trans. Intell. Technol."},{"key":"B119","first-page":"5043","article-title":"Automatic segmentation and recognition of human activities from observation based on semantic reasoning","volume-title":"2014 IEEE\/RSJ international conference on intelligent robots and systems","author":"Ramirez-Amaro","year":""},{"key":"B120","doi-asserted-by":"publisher","first-page":"345","DOI":"10.1080\/01691864.2014.1003096","article-title":"Understanding the intention of human activities through semantic perception: Observation, understanding and execution on a humanoid robot","volume":"29","author":"Ramirez-Amaro","year":"2015","journal-title":"Adv. Robot."},{"key":"B121","first-page":"438","article-title":"Bootstrapping humanoid robot skills by extracting semantic representations of human-like activities from virtual reality","volume-title":"2014 IEEE-RAS international conference on humanoid robots","author":"Ramirez-Amaro","year":""},{"key":"B122","first-page":"12","article-title":"A review of multi-agent mobile robot systems applications","author":"Rasheed","year":"2022","journal-title":"Int. J. Electr. Comput. Eng."},{"key":"B123","doi-asserted-by":"crossref","first-page":"2743","DOI":"10.1109\/IROS.2006.282000","article-title":"Implementation of industrial robot force control case study: High power stub grinding and deburring","volume-title":"2006 IEEE\/RSJ international conference on intelligent robots and systems","author":"Robertsson","year":"2006"},{"key":"B124","doi-asserted-by":"publisher","first-page":"112","DOI":"10.1016\/j.ifacol.2018.07.097","article-title":"Review of multi-agent algorithms for collective behavior: A structural taxonomy","volume":"51","author":"Rossi","year":"2018","journal-title":"IFAC-PapersOnLine"},{"key":"B125","doi-asserted-by":"crossref","first-page":"227","DOI":"10.1109\/RoMoCo.2013.6614613","article-title":"Force-based robot learning of pouring skills using parametric hidden markov models","volume-title":"9th international workshop on robot motion and control","author":"Rozo","year":"2013"},{"key":"B126","doi-asserted-by":"crossref","first-page":"2192","DOI":"10.1109\/ICRA.2018.8462835","article-title":"Where can i do this? Geometric affordances from a single example with the interaction tensor","volume-title":"2018 IEEE international conference on robotics and automation (ICRA)","author":"Ruiz","year":"2018"},{"key":"B127","doi-asserted-by":"crossref","first-page":"270","DOI":"10.1109\/HUMANOIDS.2018.8625048","article-title":"Tool-use model considering tool selection by a robot using deep learning","volume-title":"2018 IEEE-RAS 18th international conference on humanoid robots (humanoids)","author":"Saito","year":"2018"},{"key":"B128","first-page":"101","article-title":"The robot engineer","volume-title":"ILP (late breaking papers)","author":"Sammut","year":"2015"},{"key":"B129","doi-asserted-by":"publisher","first-page":"1542","DOI":"10.1109\/tmi.2017.2665671","article-title":"Detection and localization of robotic tools in robot-assisted surgery videos using deep neural networks for region proposal and detection","volume":"36","author":"Sarikaya","year":"2017","journal-title":"IEEE Trans. Med. imaging"},{"key":"B130","doi-asserted-by":"crossref","first-page":"261","DOI":"10.1007\/4-431-31381-8_23","article-title":"Dynamic movement primitives-a framework for motor control in humans and humanoid robotics","volume-title":"Adaptive motion of animals and machines","author":"Schaal","year":"2006"},{"key":"B131","doi-asserted-by":"publisher","first-page":"84","DOI":"10.1109\/tamd.2015.2488284","article-title":"Bootstrapping the semantics of tools: Affordance analysis of real world objects on a per-part basis","volume":"8","author":"Schoeler","year":"2015","journal-title":"IEEE Trans. Cognitive Dev. Syst."},{"key":"B133","doi-asserted-by":"publisher","first-page":"1419","DOI":"10.1177\/02783649211046285","article-title":"Concept2robot: Learning manipulation concepts from instructions and human demonstrations","volume":"40","author":"Shao","year":"2021","journal-title":"Int. J. Robotics Res."},{"key":"B134","doi-asserted-by":"crossref","DOI":"10.1353\/book.98237","volume-title":"Animal tool behavior: The use and manufacture of tools by animals","author":"Shumaker","year":"2011"},{"key":"B135","first-page":"91","article-title":"Detecting the functional similarities between tools using a hierarchical representation of outcomes","volume-title":"7th IEEE international conference on development and learning","author":"Sinapov","year":"2008"},{"key":"B136","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1109\/DEVLRN.2007.4354064","article-title":"Learning and generalization of behavior-grounded tool affordances","volume-title":"2007 IEEE 6th international conference on development and learning","author":"Sinapov","year":"2007"},{"key":"B137","first-page":"980","article-title":"Embodiment-specific representation of robot grasping using graphical models and latent-space discretization","volume-title":"2011 IEEE\/RSJ international conference on intelligent robots and systems","author":"Song","year":""},{"key":"B138","first-page":"1944","article-title":"Multivariate discretization for bayesian network structure learning in robot grasping","volume-title":"2011 IEEE international conference on robotics and automation","author":"Song","year":""},{"key":"B139","doi-asserted-by":"publisher","first-page":"546","DOI":"10.1109\/tro.2015.2409912","article-title":"Task-based robot grasp planning using probabilistic inference","volume":"31","author":"Song","year":"2015","journal-title":"IEEE Trans. robotics"},{"key":"B140","doi-asserted-by":"crossref","first-page":"1579","DOI":"10.1109\/IROS.2010.5649406","article-title":"Learning task constraints for robot grasping using graphical models","volume-title":"2010 IEEE\/RSJ international conference on intelligent robots and systems","author":"Song","year":"2010"},{"key":"B141","doi-asserted-by":"publisher","first-page":"97","DOI":"10.1016\/j.jhevol.2011.02.010","article-title":"Stone tool use by adult wild bearded capuchin monkeys (cebus libidinosus). frequency, efficiency and tool selectivity","volume":"61","author":"Spagnoletti","year":"2011","journal-title":"J. Hum. Evol."},{"key":"B142","doi-asserted-by":"publisher","first-page":"1199","DOI":"10.1016\/j.anbehav.2007.09.028","article-title":"Revisiting the definition of animal tool use","volume":"75","author":"St. Amant","year":"2008","journal-title":"Anim. Behav."},{"key":"B143","first-page":"3071","article-title":"Behavior-grounded representation of tool affordances","volume-title":"Proceedings of IEEE international conference on robotics and automation (ICRA)","author":"Stoytchev","year":""},{"key":"B144","volume-title":"Computational model for an extendable robot body schema","author":"Stoytchev","year":"2003"},{"key":"B145","doi-asserted-by":"crossref","first-page":"140","DOI":"10.1007\/978-3-540-77915-5_10","article-title":"Learning the affordances of tools using a behavior-grounded approach","volume-title":"Towards affordance-based robot control","author":"Stoytchev","year":"2008"},{"key":"B146","volume-title":"Robot tool behavior: A developmental approach to autonomous tool use","author":"Stoytchev","year":"2007"},{"key":"B147","first-page":"17","article-title":"Toward learning the binding affordances of objects: A behavior-grounded approach","volume-title":"Proceedings of AAAI symposium on developmental robotics","author":"Stoytchev","year":""},{"key":"B148","first-page":"755","article-title":"Adaptive tool-use strategies for anthropomorphic service robots","volume-title":"2014 IEEE-RAS international conference on humanoid robots","author":"St\u00fcckler","year":""},{"key":"B149","first-page":"994","article-title":"Efficient deformable registration of multi-resolution surfel maps for object manipulation skill transfer","volume-title":"2014 IEEE international conference on robotics and automation (ICRA)","author":"St\u00fcckler","year":""},{"key":"B150","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1007\/978-3-662-44506-8_7","article-title":"Perception of deformable objects and compliant manipulation for service robots","volume-title":"Soft robotics","author":"St\u00fcckler","year":"2015"},{"key":"B151","first-page":"135","article-title":"Increasing flexibility of mobile manipulation and intuitive human-robot interaction in robocup@ home","volume-title":"Robot soccer world cup","author":"St\u00fcckler","year":"2013"},{"key":"B152","doi-asserted-by":"publisher","first-page":"58","DOI":"10.3389\/frobt.2016.00058","article-title":"Mobile manipulation, tool use, and intuitive interaction for cognitive service robot cosero","volume":"3","author":"St\u00fcckler","year":"2016","journal-title":"Front. Robotics AI"},{"key":"B153","first-page":"1","article-title":"Real-time vision-based surgical tool segmentation with robot kinematics prior","volume-title":"International symposium on medical robotics (ISMR)","author":"Su","year":"2018"},{"key":"B154","doi-asserted-by":"crossref","first-page":"2398","DOI":"10.1109\/ICRA.2012.6225358","article-title":"Learning to slide a magnetic card through a card reader","volume-title":"2012 IEEE international conference on robotics and automation","author":"Sukhoy","year":"2012"},{"key":"B155","doi-asserted-by":"publisher","first-page":"115","DOI":"10.1016\/j.robot.2017.01.002","article-title":"Tool-body assimilation model considering grasping motion through deep learning","volume":"91","author":"Takahashi","year":"2017","journal-title":"Robotics Aut. Syst."},{"key":"B156","first-page":"950","article-title":"Automated polishing process with a human-like dexterous robot","volume-title":"1993 proceedings IEEE international conference on robotics and automation","author":"Takeuchi","year":"1993"},{"key":"B157","doi-asserted-by":"publisher","first-page":"533","DOI":"10.1038\/s42256-022-00500-9","article-title":"A framework for tool cognition in robots without prior tool learning or observation","volume":"4","author":"Tee","year":"2022","journal-title":"Nat. Mach. Intell."},{"key":"B158","doi-asserted-by":"crossref","first-page":"6439","DOI":"10.1109\/ICRA.2018.8460987","article-title":"Towards emergence of tool use in robots: Automatic tool recognition and use without prior tool learning","volume-title":"2018 IEEE international conference on robotics and automation (ICRA)","author":"Tee","year":"2018"},{"key":"B159","doi-asserted-by":"crossref","first-page":"130","DOI":"10.1109\/HUMANOIDS.2013.7029967","article-title":"Exploring affordances and tool use on the icub","volume-title":"2013 13th IEEE-RAS international conference on humanoid robots (humanoids)","author":"Tikhanoff","year":"2013"},{"key":"B160","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2018.XIV.044","article-title":"Differentiable physics and stable modes for tool-use and manipulation planning","volume-title":"Robotics: Science and systems foundation","author":"Toussaint","year":"2018"},{"key":"B161","doi-asserted-by":"publisher","first-page":"1972","DOI":"10.1109\/tie.2015.2508929","article-title":"Dynamic object manipulation considering contact condition of robot with tool","volume":"63","author":"Tsuji","year":"2015","journal-title":"IEEE Trans. Industrial Electron."},{"key":"B162","volume-title":"Gift: Generalizable interaction-aware functional tool affordances without labels","author":"Turpin","year":"2021"},{"key":"B163","first-page":"195","article-title":"Tool-using in primates and other vertebrates","volume-title":"Advances in the study of behavior","author":"Van Lawick-Goodall","year":"1970"},{"key":"B164","first-page":"529","article-title":"What is challenging about tool use? The capuchin\u2019s perspective","author":"Visalberghi","year":"2006","journal-title":"Comp. cognition Exp. Explor. animal Intell."},{"key":"B165","doi-asserted-by":"crossref","first-page":"1549","DOI":"10.1109\/ICRA.2017.7989185","article-title":"Hitting the sweet spot: Automatic optimization of energy transfer during tool-held hits","volume-title":"2017 IEEE international conference on robotics and automation (ICRA)","author":"Vogel","year":"2017"},{"key":"B166","article-title":"Relational tool use learning by a robot in a real and simulated world","author":"Wicaksono","year":"2016","journal-title":"Proc. ACRA"},{"key":"B167","doi-asserted-by":"publisher","first-page":"e6471","DOI":"10.1371\/journal.pone.0006471","article-title":"Cognitive processes associated with sequential tool use in new caledonian crows","volume":"4","author":"Wimpenny","year":"2009","journal-title":"PLoS One"},{"key":"B168","doi-asserted-by":"crossref","first-page":"378","DOI":"10.1109\/ROMAN.2018.8525827","article-title":"Grounding verbs for tool-dependent, sensor-based robot tasks","volume-title":"2018 27th IEEE international symposium on robot and human interactive communication (RO-MAN)","author":"W\u00f6lfel","year":"2018"},{"key":"B169","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2019.XV.001","article-title":"Improvisation through physical understanding: Using novel objects as tools with visual foresight","volume-title":"Proceedings of robotics: Science and systems","author":"Xie","year":"2019"},{"key":"B170","doi-asserted-by":"crossref","first-page":"9226","DOI":"10.1109\/IROS45743.2020.9341373","article-title":"Gripping a kitchen knife on the cutting board","volume-title":"2020 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Xue","year":"2020"},{"key":"B171","doi-asserted-by":"crossref","first-page":"1365","DOI":"10.1109\/IROS.2010.5653614","article-title":"System integration of a daily assistive robot and its application to tidying and cleaning rooms","volume-title":"2010 IEEE\/RSJ international conference on intelligent robots and systems","author":"Yamazaki","year":"2010"},{"key":"B172","doi-asserted-by":"publisher","first-page":"235","DOI":"10.1177\/1059712317726357","article-title":"Computational models of affordance in robotics: A taxonomy and systematic classification","volume":"25","author":"Zech","year":"2017","journal-title":"Adapt. Behav."},{"key":"B173","first-page":"2855","article-title":"Understanding tools: Task-oriented object modeling, learning and recognition","volume-title":"Proceedings of the IEEE conference on computer vision and pattern recognition","author":"Zhu","year":"2015"},{"key":"B174","doi-asserted-by":"publisher","first-page":"17","DOI":"10.3390\/robotics7020017","article-title":"Robot learning from demonstration in robotic assembly: A survey","volume":"7","author":"Zhu","year":"2018","journal-title":"Robotics"}],"container-title":["Frontiers in Robotics and AI"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frobt.2022.1009488\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,3,21]],"date-time":"2023-03-21T03:34:36Z","timestamp":1679369676000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frobt.2022.1009488\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,1,16]]},"references-count":174,"alternative-id":["10.3389\/frobt.2022.1009488"],"URL":"https:\/\/doi.org\/10.3389\/frobt.2022.1009488","relation":{},"ISSN":["2296-9144"],"issn-type":[{"value":"2296-9144","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,1,16]]},"article-number":"1009488"}}