FuncBridge: Towards Functional Tool-Use Generalization via Keypoint Trajectory Reasoning
The paper introduces FORGE, a two-stage policy to improve robotic tool-use generalization by decoupling functional reasoning from action execution. It finds that 2D keypoint trajectories are the best intermediate representation because they capture necessary functional intent while remaining grounded in geometry. This method achieves over double the success rate on unseen tools in both simulation and real-world tests.