# Flexible Tool Selection through Low-dimensional Attribute Alignment of Vision and Language

arXiv: https://arxiv.org/abs/2505.22146 · HTML: https://mlsanity.com/paper/2505.22146/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 29 of its 76 references that are in the map.
- First posted on arXiv 28 May 2025.

## Builds on (most cited first, 29 of 29)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Llama 2: Open Foundation and Fine-Tuned Chat Models](https://mlsanity.com/paper/2307.09288/) (2023)
- [GPT-4o System Card](https://mlsanity.com/paper/2410.21276/) (2024)
- [Prefix-Tuning: Optimizing Continuous Prompts for Generation](https://mlsanity.com/paper/2101.00190/) (2021)
- [The Power of Scale for Parameter-Efficient Prompt Tuning](https://mlsanity.com/paper/2104.08691/) (2021)
- [VQA: Visual Question Answering](https://mlsanity.com/paper/1505.00468/) (2015)
- [ViLBERT: Pretraining Task-Agnostic Visiolinguistic Representations for Vision-and-Language Tasks](https://mlsanity.com/paper/1908.02265/) (2019)
- [Bottom-Up and Top-Down Attention for Image Captioning and Visual Question Answering](https://mlsanity.com/paper/1707.07998/) (2017)
- [Do Better ImageNet Models Transfer Better?](https://mlsanity.com/paper/1805.08974/) (2018)
- [Learning multiple visual domains with residual adapters](https://mlsanity.com/paper/1705.08045/) (2017)
- [CNN Features off-the-shelf: an Astounding Baseline for Recognition](https://mlsanity.com/paper/1403.6382/) (2014)
- [Stacked Attention Networks for Image Question Answering](https://mlsanity.com/paper/1511.02274/) (2015)
- [Knowledge distillation: A good teacher is patient and consistent](https://mlsanity.com/paper/2106.05237/) (2021)
- [LVLM-eHub: A Comprehensive Evaluation Benchmark for Large Vision-Language Models](https://mlsanity.com/paper/2306.09265/) (2023)
- [MetaTool Benchmark for Large Language Models: Deciding Whether to Use Tools and Which to Use](https://mlsanity.com/paper/2310.03128/) (2023)
- [When Scaling Meets LLM Finetuning: The Effect of Data, Model and Finetuning Method](https://mlsanity.com/paper/2402.17193/) (2024)
- [Continual Learning of Context-dependent Processing in Neural Networks](https://mlsanity.com/paper/1810.01256/) (2018)
- [Evaluating Commonsense in Pre-trained Language Models](https://mlsanity.com/paper/1911.11931/) (2019)
- [Rapid trial-and-error learning with simulation supports flexible tool use and physical reasoning](https://mlsanity.com/paper/1907.09620/) (2019)
- [LLMs for Explainable AI: A Comprehensive Survey](https://mlsanity.com/paper/2504.00125/) (2025)
- [Improvisation through Physical Understanding: Using Novel Objects as Tools with Visual Foresight](https://mlsanity.com/paper/1904.05538/) (2019)
- [How to select and use tools? : Active Perception of Target Objects Using Multimodal Deep Learning](https://mlsanity.com/paper/2106.02445/) (2021)
- [Comparison of fine-tuning strategies for transfer learning in medical image classification](https://mlsanity.com/paper/2406.10050/) (2024)
- [From Linguistic Giants to Sensory Maestros: A Survey on Cross-Modal Reasoning with Large Language Models](https://mlsanity.com/paper/2409.18996/) (2024)

## Abstract (arXiv)

Flexible tool selection reflects a complex cognitive ability that distinguishes humans from other species, yet computational models that capture this ability remain underdeveloped. We developed a framework using low-dimensional attribute representations to bridge visual tool perception and linguistic task understanding. We constructed a comprehensive dataset (ToolNet) containing 115 common tools labeled with 13 carefully designed attributes spanning physical, functional, and psychological properties, paired with natural language scenarios describing tool usage. Visual encoders (ResNet or ViT) extract attributes from tool images while fine-tuned language models (GPT-2, LLaMA, DeepSeek) derive required attributes from task descriptions. Our approach achieves 74% accuracy in tool selection tasks-significantly outperforming direct tool matching (20%) and smaller multimodal models (21%-58%), while approaching performance of much larger models like GPT-4o (73%) with substantially fewer parameters. Human evaluation studies validate our framework's alignment with human decision-making patterns, and generalization experiments demonstrate effective performance on novel tool categories. Ablation studies revealed that manipulation-related attributes (graspability, elongation, hand-relatedness) consistently prove most critical across modalities. This work provides a parameter-efficient, interpretable solution that mimics human-like tool cognition, advancing both cognitive science understanding and practical applications in tool selection tasks.