# Robust and Adaptive Door Operation with a Mobile Robot

arXiv: https://arxiv.org/abs/1902.09051 · HTML: https://mlsanity.com/paper/1902.09051/

## Key facts

- Cited by 13 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Feb 2019.

## Built on by (most cited first, 13 of 13)

- [VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D ARTiculated Objects](https://mlsanity.com/paper/2106.14440/) (2021)
- [Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation](https://mlsanity.com/paper/2103.10534/) (2021)
- [N2M2: Learning Navigation for Arbitrary Mobile Manipulation Motions in Unseen and Dynamic Environments](https://mlsanity.com/paper/2206.08737/) (2022)
- [Learning Category-Level Generalizable Object Manipulation Policy via Generative Adversarial Self-Imitation Learning from Demonstrations](https://mlsanity.com/paper/2203.02107/) (2022)
- [Spot-Compose: A Framework for Open-Vocabulary Object Retrieval and Drawer Manipulation in Point Clouds](https://mlsanity.com/paper/2404.12440/) (2024)
- [Learning Hierarchical Interactive Multi-Object Search for Mobile Manipulation](https://mlsanity.com/paper/2307.06125/) (2023)
- [Articulated 3D Scene Graphs for Open-World Mobile Manipulation](https://mlsanity.com/paper/2602.16356/) (2026)
- [RPMArt: Towards Robust Perception and Manipulation for Articulated Objects](https://mlsanity.com/paper/2403.16023/) (2024)
- [Spatial and Semantic Embedding Integration for Stereo Sound Event Localization and Detection in Regular Videos](https://mlsanity.com/paper/2507.04845/) (2025)
- [Integrating Spatial and Semantic Embeddings for Stereo Sound Event Localization in Videos](https://mlsanity.com/paper/2509.06598/) (2025)
- [Deep Measurement Updates for Bayes Filters](https://mlsanity.com/paper/2112.00380/) (2021)
- [Learning the Generalizable Manipulation Skills on Soft-body Tasks via Guided Self-attention Behavior Cloning Policy](https://mlsanity.com/paper/2410.05756/) (2024)
- [TRISTAR: Triple-Signal Stair Recognition and Vision-Only Indoor Navigation for Search-and-Rescue Micro-UAVs](https://mlsanity.com/paper/2607.03818/) (2026)

## Abstract (arXiv)

The ability to deal with articulated objects is very important for robots assisting humans. In this work, a framework to robustly and adaptively operate common doors, using an autonomous mobile manipulator, is proposed. To push forward the state-of-the-art in robustness and speed performance, we devise a novel algorithm that fuses a convolutional neural network with efficient point cloud processing. This advancement enables real-time grasping pose estimation for multiple handles from RGB-D images, providing a speed up improvement for assistive human-centered applications. In addition, we propose a versatile Bayesian framework that endows the robot with the ability to infer the door kinematic model from observations of its motion and learn from previous experiences or human demonstrations. Combining these algorithms with a Task Space Region motion planner, we achieve an efficient door operation regardless of the kinematic model. We validate our framework with real-world experiments using the Toyota Human Support Robot.