Tool-Use Model Considering Tool Selection by a Robot Using Deep Learning

We propose a tool-use model that can select tools that require neither labeling nor modeling of the environment and actions. With this model, a robot can choose a tool by itself and perform the operation that matches a human command and the environmental situation. To realize this, we use deep learning to train sensory motor data recorded during tool selection and tool use as experienced by a robot. The experience includes two types of selection, namely according to function and according to size, thereby allowing the robot to handle both situations. For evaluation, the robot is required to generate motion either in an untrained situation or using an untrained tool. We confirm that the robot can choose and use a tool that is suitable for achieving the target task.