{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/124390"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/124390","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Opening cabinets and drawers in the real world using a commodity mobile manipulator","abstract":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms","abstract_html":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms","abstract_has_math":false,"creators":["Zhang, Michelle"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Electrical & Computer Engr","degree_department":null,"school":null,"contributors":["Gupta, Saurabh"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2024,"date_issued":"2024-05","date_published":"2024-05","updated_at":"2026-07-22T22:25:00Z","subjects":["Articulated Manipulation","Mobile Manipulation"],"languages":["en","eng"],"rights":["Copyright 2024 Michelle Zhang"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/124390","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Gupta, Saurabh"]},{"key":"dc:creator","label":"Author","values":["Zhang, Michelle"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2024-05","2024-04-29"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical & Computer Engr"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Articulated Manipulation","Mobile Manipulation"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en","eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2024 Michelle Zhang"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/124390"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms","The student, Michelle Zhang, accepted the attached license on 2024-04-24 at 10:38.","The student, Michelle Zhang, submitted this Thesis for approval on 2024-04-24 at 11:16.","This Thesis was approved for publication on 2024-04-29 at 14:53.","DSpace SAF Submission Ingestion Package generated from Vireo submission #20603 on 2024-09-16 at 00:36:05","Pulling open cabinets and drawers presents many difficult technical challenges in perception (inferring articulation parameters for objects from onboard sensors), planning (producing motion plans that conform to tight task constraints), and control (making and maintaining contact while applying forces on the environment). In this work, we build an end-to-end system that enables a commodity mobile manipulator (Stretch RE2) to pull open cabinets and drawers in diverse previously unseen real world environments. We conduct four days of real world testing of this system spanning 31 different objects from across 13 different real world environments. Our system achieves a success rate of 61% on opening novel cabinets and drawers in unseen environments zero-shot. An analysis of the failure modes suggests that errors in perception are the most significant challenge for our system. We will open source code and models for others to replicate and build upon our system."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Opening cabinets and drawers in the real world using a commodity mobile manipulator"]}]}],"canonical_facts":{"dc:contributor":["Gupta, Saurabh"],"dc:creator":["Zhang, Michelle"],"dc:date":["2024-05","2024-04-29"],"dc:description":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms","The student, Michelle Zhang, accepted the attached license on 2024-04-24 at 10:38.","The student, Michelle Zhang, submitted this Thesis for approval on 2024-04-24 at 11:16.","This Thesis was approved for publication on 2024-04-29 at 14:53.","DSpace SAF Submission Ingestion Package generated from Vireo submission #20603 on 2024-09-16 at 00:36:05","Pulling open cabinets and drawers presents many difficult technical challenges in perception (inferring articulation parameters for objects from onboard sensors), planning (producing motion plans that conform to tight task constraints), and control (making and maintaining contact while applying forces on the environment). In this work, we build an end-to-end system that enables a commodity mobile manipulator (Stretch RE2) to pull open cabinets and drawers in diverse previously unseen real world environments. We conduct four days of real world testing of this system spanning 31 different objects from across 13 different real world environments. Our system achieves a success rate of 61% on opening novel cabinets and drawers in unseen environments zero-shot. An analysis of the failure modes suggests that errors in perception are the most significant challenge for our system. We will open source code and models for others to replicate and build upon our system."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/124390"],"dc:language":["en","eng"],"dc:rights":["Copyright 2024 Michelle Zhang"],"dc:subject":["Articulated Manipulation","Mobile Manipulation"],"dc:title":["Opening cabinets and drawers in the real world using a commodity mobile manipulator"],"dc:type":["text"],"thesis:degree_discipline":["Electrical & Computer Engr"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:00Z"}