@article{chen2026robot,
  title   = {Robot Tool Design from Scratch via Behavior-Aware Hierarchical Optimization},
  author  = {Chen, Yinghan and Tian, Xiyao and Dai, Yizan and Li, Yuyang and Zhu, Yixin},
  journal = {arXiv preprint arXiv:2609.35479},
  year    = {2026}
}