Macgyvering refers to solving problems inventively by using whatever objects are available at hand. Tool Macgyvering is a subset of macgyvering tasks involving a missing tool that is either substituted (tool substitution) or constructed (tool construction), from available objects. In this paper, we introduce a novel Tool Macgyvering framework that combines tool substitution and construction using arbitration that decides between the two options to output a final macgyvering solution. Our tool construction approach reasons about the shape, material, and different ways of attaching objects to construct a desired tool. We further develop value functions that enable the robot to effectively arbitrate between substitution and construction. Our results show that our tool construction approach is able to successfully construct working tools with an accuracy of 96.67%, and our arbitration strategy successfully chooses between substitution and construction with an accuracy of 83.33%.
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