Tool Use Learning in Robots

Learning to use an object as a tool requires understanding what goals it helps to achieve, the properties of the tool that make it useful and how the tool must be manipulated to achieve the goal. We present a method that allows a robot to learn about objects in this way and thereby employ them as tools. An initial hypothesis for an action model of tool use is created by observing another agent accomplishing a task using a tool. The robot then refines its hypothesis by active learning, generating new experiments and observing the outcomes. Hypotheses are updated using Inductive Logic Programming. One of the novel aspects of this work is the method used to select experiments so that the search through the hypothesis space is minimised.