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This paper explores the planning and control of a manipulation task accomplished in conditions of high uncertainty. Statistical techniques, like particle filters, provide a framework for expressing the uncertainty and partial observability of the real world and taking actions to reduce them. We explore a classic manipulation problem of planar batting, but with a new twist of shape, pose and impact uncertainty. We demonstrate a technique for characterizing and reducing this uncertainty using adoi:10.1109/robot.2007.363809 dblp:conf/icra/FuSPN07 fatcat:o7g5vubrmzeklaaypbqyvf5yjy