Robot Tool Design from Scratch via Behavior-Aware Hierarchical Optimization

arXiv:2609.35479 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Terminology

• Calibration — 21× in this paper · explained in 7 episodes
• Affordance — 7× in this paper · explained in 1 episode
• Ablation — 3× in this paper · explained in 1 episode
• Bayesian Optimization — 3× in this paper · explained in 3 episodes
• Behavior-Aware Structural Search — 2× in this paper
• Core — 2× in this paper · explained in 2 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Affordance Detection — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Bayesian Inference — 1× in this paper · explained in 5 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Q-learning — 1× in this paper · explained in 3 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Self-Supervised Learning — 1× in this paper · explained in 7 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• Dojo: A Differentiable Physics Engine for Robotics

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