# AutOTranS: an Autonomous Open World Transportation System

arXiv: https://arxiv.org/abs/1810.03400 · HTML: https://mlsanity.com/paper/1810.03400/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Oct 2018.

## Built on by (most cited first, 1 of 1)

- [Fully Autonomous Real-World Reinforcement Learning with Applications to Mobile Manipulation](https://mlsanity.com/paper/2107.13545/) (2021)

## Abstract (arXiv)

Tasks in outdoor open world environments are now ripe for automation with mobile manipulators. The dynamic, unstructured and unknown environments associated with such tasks -- a prime example would be collecting roadside trash -- makes them particularly challenging. In this paper we present an approach to solving the problem of picking up, transporting, and dropping off novel objects outdoors. Our solution integrates a navigation system, a grasp detection and planning system, and a custom task planner. We perform experiments that demonstrate that the system can be used to transport a wide class of novel objects (trash bags, general garbage, gardening tools and fruits) in unstructured settings outdoors with a relatively high end-to-end success rate of 85%. See it at work at: https://youtu.be/93nWXhaGEWA