{"id":32758,"date":"2026-01-21T17:02:36","date_gmt":"2026-01-21T17:02:36","guid":{"rendered":"https:\/\/lamarr-institute.org\/publication\/learning-generalizable-tool-use-with-non-rigid-grasp-pose-registration\/"},"modified":"2026-09-17T11:26:02","modified_gmt":"2026-09-17T11:26:02","slug":"learning-generalizable-tool-use-with-non-rigid-grasp-pose-registration","status":"publish","type":"publication","link":"https:\/\/lamarr-institute.org\/de\/publication\/learning-generalizable-tool-use-with-non-rigid-grasp-pose-registration\/","title":{"rendered":"Learning Generalizable Tool Use with Non-rigid Grasp-pose Registration"},"content":{"rendered":"<p>Tool use, a hallmark feature of human intelligence, remains a challenging problem in robotics due the complex contacts and high-dimensional action space. In this work, we present a novel method to enable reinforcement learning of tool use behaviors. Our approach provides a scalable way to learn the operation of tools in a new category using only a single demonstration. To this end, we propose a new method for generalizing grasping configurations of multi-fingered robotic hands to novel objects. This is used to guide the policy search via favorable initializations and a shaped reward signal. The learned policies solve complex tool use tasks and generalize to unseen tools at test time. Visualizations and videos of the trained policies are available at \\url{https:\/\/maltemosbach.github.io\/generalizable_tool_use}.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tool use, a hallmark feature of human intelligence, remains a challenging problem in robotics due the complex contacts and high-dimensional action space. In this work, we present a novel method to enable reinforcement learning of tool use behaviors. Our approach provides a scalable way to learn the operation of tools in a new category using only a single demonstration. To this end, we propose a new method for generalizing grasping [&hellip;]<\/p>\n","protected":false},"author":14,"featured_media":0,"template":"","meta":{"_acf_changed":false,"footnotes":""},"publication-type":[32],"class_list":["post-32758","publication","type-publication","status-publish","hentry","publication-type-inproceedings"],"acf":[],"publishpress_future_workflow_manual_trigger":{"enabledWorkflows":[]},"_links":{"self":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication\/32758","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication"}],"about":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/types\/publication"}],"author":[{"embeddable":true,"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/users\/14"}],"version-history":[{"count":0,"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication\/32758\/revisions"}],"wp:attachment":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/media?parent=32758"}],"wp:term":[{"taxonomy":"publication-type","embeddable":true,"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication-type?post=32758"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}