Before revision:  We introduce TANGO, a novel neural model  for predicting task-specific tool interactions . TANGO is trained using demonstrations obtained from human teachers instructing a virtual robot in a physics simulator . TANGO encodes the world state comprising of objects and symbolic relationships between them  using a graph neural network.
After revision:  We introduce TANGO, a novel neural model for predicting task-specific tool interactions . TANGO is trained using demonstrations from human teachers instructing a virtual robot in a physics simulator . TANGO encodes the world state comprising of objects and symbolic relationships between them using a graph neural network.