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We consider the perceptual challenges inherent in the robotic manipulation of previously unseen socks, with the end goal of manipulation by a household robot for laundry. The task poses challenging problems in modeling the appearance, shape and configuration of these textile items that tend to exhibit high variability in texture, design, and style while being highly articulated objects. At the heart of our approach is a holistic model of shape and appearance that facilitates manipulation ofdoi:10.1109/iros.2011.6095013 dblp:conf/iros/WangMFDA11 fatcat:hvorcpxkujc3lp6bv2hey3ptj4