ARTICLE Ti_TRO_2024/IDIAP An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks Ti, Boyang Gao, Y. Zhao, Jie Calinon, Sylvain robot learning EXTERNAL http://publications.idiap.ch/attachments/papers/2024/Ti_TRO_2024.pdf PUBLIC IEEE Transactions on Robotics (T-RO) 2024