Learn More
Robust robotic manipulation and perception remains a difficult challenge, in particular in unstructured environments. To address this challenge, we propose to couple manipulation and perception. The robot observes its own deliberate interactions with the world. These interactions reveal sensory information that would otherwise remain hidden and facilitate(More)
We address the problem of clearing a pile of unknown objects using an autonomous interactive perception approach. Our robot hypothesizes the boundaries of objects in a pile of unknown objects (object segmentation) and verifies its hypotheses (object detection) using deliberate interactions. To guarantee the safety of the robot and the environment, we use(More)
— We introduce a learning-based approach to manipulation in unstructured environments. This approach permits autonomous acquisition of manipulation expertise from interactions with the environment. The resulting expertise enables a robot to perform effective manipulation based on partial state information. The manipulation expertise is represented in a(More)
— Research in Autonomous Mobile Manipulation critically depends on the availability of adequate experimental platforms. In this paper, we describe an ongoing effort at the University of Massachusetts Amherst to construct a hardware platform with redundant kinematic degrees of freedom, a comprehensive sensor suite, and significant end-effector capabilities(More)
—Autonomous manipulation in unstructured environments presents roboticists with three fundamental challenges: object segmentation, action selection, and motion generation. These challenges become more pronounced when unknown man-made or natural objects are cluttered together in a pile. We present an end-to-end approach to the problem of manipulating unknown(More)
We present an interactive perceptual skill for segmenting, tracking, and modeling the kinematic structure of 3D articulated objects. This skill is a prerequisite for general manipulation in unstructured environments. Robot-environment interactions are used to move an unknown object, creating a perceptual signal that reveals the kinematic properties of the(More)