Before revision: In this paper we consider joint perception and control of a pick-place system. It is important to consider perception and control jointly as some actions are more likely to succeed than others given non-uniform, perceptual uncertainty.Our approach is to combine 3D object instance segmentation and shape completion with classical regrasp planning.
After revision: We consider robotic pick-and-place of partially visible, novel objects, where goal placements are non-trivial, e.g., tightly packed into a bin. One approach is (a) use object instance segmentation and shape completion with classical regrasp planning.