arxivcs.ROcs.AIcs.CV2026-07-07
FORGE: Towards Functional Tool-Use Generalization via Keypoint Trajectory Reasoning
Chuhao Zhou, Liquan Wang, Shuxin Cao, Xiangyu Chen, Yuxuan Hu, Boyu Ma, et al.
While humans readily repurpose a book, a stone, or a shoe to drive a nail, robots trained on specific tools fail to transfer the same function to novel ones -- a gap we formalize as functional generalization. Such tools share a common functional intent that is visually recognizab…