Learning Tool Morphology for Contact-Rich Manipulation Tasks with Differentiable Simulation
Mengxi Li,Rika Antonova,Dorsa Sadigh,Jeannette Bohg,Mengxi Li,Rika Antonova,Dorsa Sadigh,Jeannette Bohg
When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as knives, forks and spoons. Similarly, robots may benefit from specialized tools that enable them to more easily complete a variety of tasks. We present an end-to-end framework to automatically learn tool morphology for conta...
