Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance

Humans subconsciously choose robust ways of selecting and using tools, based on years of embodied experience -- for example, choosing a ladle instead of a flat spatula to serve meatballs. However, robustness under uncertainty remains underexplored in robotic tool-use planning. This paper presents a robustness-aware framework that jointly selects tools and plans contact-rich manipulation trajectories, explicitly optimizing for robustness against environmental disturbances. At the core of our approach is a learned, energy-based robustness metric, which guides the planner towards robust manipulation behaviors. We formulate a hierarchical optimization pipeline that first identifies a tool and configuration that optimizes robustness, and then plans a corresponding manipulation trajectory that maintains robustness throughout execution. We evaluate our approach across three representative tool-use tasks. Simulation and real-world results demonstrate that our approach consistently selects robust tools and generates disturbance-resilient manipulation plans.

@article{dong2025_2506.03362,
  title={ Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance },
  author={ Yifei Dong and Yan Zhang and Sylvain Calinon and Florian T. Pokorny },
  journal={arXiv preprint arXiv:2506.03362},
  year={ 2025 }
}