Fast Factory Video

I spent the past few months developing the perception system behind this video of a PR2 grasping moving objects.

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Perception is driven entirely by the Kinect mounted on the robot’s head, and all processing of the Kinect data is done in Haskell. I will write up a report on that side of things in the near future, but suffice to say that Haskell is more than ready for top flight performance and reliability (we’ve done about a month of testing, where a test day generally involves launching the perception software, then letting it run all day). It’s multithreaded, networked, and GPU accelerated. Free monads were involved. Lenses were involved. Burritos played a crucial role.