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Fig. 1 : The PR2 with a pair of pants in a crumpled initial configuration. Abstract-We consider the problem of autonomously bringing an article of clothing into a desired configuration using a general-purpose two-armed robot. We propose a hidden Markov model (HMM) for estimating the identity of the article and tracking the article's configuration throughout a specific sequence of manipulations and observations. At the end of this sequence, the article's configuration is known, though notdoi:10.1109/icra.2011.5980327 dblp:conf/icra/Cusumano-TownerSMOA11 fatcat:imll7sr4f5hnhfr7lfji6r2sau