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We consider the task of autonomously unloading boxes from trucks using an industrial manipulator robot. There are multiple challenges that arise: (1) real-time motion planning for a complex robotic system carrying two articulated mechanisms, an arm and a scooper, (2) decision-making in terms of what action to execute next given imperfect information about boxes such as their masses, (3) accounting for the sequential nature of the problem where current actions affect future state of the boxes,arXiv:1910.09453v2 fatcat:xrry6dfwdbgw5pu6rpvej6hd3m