论文标题
工具MacGyinging：结合工具替代和构造的新型框架
Tool Macgyvering: A Novel Framework for Combining Tool Substitution and Construction
论文作者
论文摘要
MacVering是指通过使用手头上的任何对象来创造性地解决问题。工具Macgyvering是MacGering任务的子集，该任务涉及可用对象的缺失工具（工具替换）或构造（工具构建）。在本文中，我们介绍了一种新颖的工具Macgyvering框架，该框架结合了工具替代和构造，使用仲裁决定了两个选项之间，以输出最终的MacGervering解决方案。我们的工具构建方法的原因是将对象连接到所需工具的形状，材料和不同方法。我们进一步开发了价值功能，使机器人能够在替换和构造之间有效仲裁。我们的结果表明，我们的工具构建方法能够以96.67％的精度成功构建工作工具，而我们的仲裁策略成功地在替换和施工之间进行了83.33％的准确性选择。
Macgyvering refers to solving problems inventively by using whatever objects are available at hand. Tool Macgyvering is a subset of macgyvering tasks involving a missing tool that is either substituted (tool substitution) or constructed (tool construction), from available objects. In this paper, we introduce a novel Tool Macgyvering framework that combines tool substitution and construction using arbitration that decides between the two options to output a final macgyvering solution. Our tool construction approach reasons about the shape, material, and different ways of attaching objects to construct a desired tool. We further develop value functions that enable the robot to effectively arbitrate between substitution and construction. Our results show that our tool construction approach is able to successfully construct working tools with an accuracy of 96.67%, and our arbitration strategy successfully chooses between substitution and construction with an accuracy of 83.33%.
