Journal Publications

Detailed Technical Reports (as of July, 2012)

Conference Publications

PR2 Videos (in MOV format)

These videos have been edited to cut out the "thinking" time. The planning time is about the same duration as the motion time. The underlying motion planner is a simple RRT with some smoothing, but not much, and so it generates motions that are often "surprising".

Simulation Videos (in MOV format)

In the belief-space movies, the "shadows" around the objects and the robot reflect the current uncertainty. In the planning sequences, the cyan robot reflects paths and configurations generated during planning.

Some Planning and Execution Trees

Cupboard experiment - Cycle 1

Cupboard experiment - Cycle 5


We thank all the members of the LIS research group for their help in this project, and in particular: George Konidaris, Lawson Wong, Jennifer Barry and Jon Binney for comments on drafts; Jared Glover, Aaron Fryman, Will Grathwol, Sanja Popovic and Dawit Zewdie for developing the 3D perception subsystem; Lawson Wong for the UKF implementation; Ashwin Deshpande and Dylan Hadfield-Menell for help with hierarchical planning; Jennifer Barry for help in testing the planner and with PR2 software; and Caelan Reed Garrett for help with Cython.

This work was supported in part by the NSF under Grant No. 1117325. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation. We also gratefully acknowledge support from ONR MURI grant N00014-09-1-1051, from AFOSR grant AOARD-104135 and from the Singapore Ministry of Education under a grant to the Singapore-MIT International Design Center. We thank Willow Garage for the use of the PR2 robot as part of the PR2 Beta Program.