This article investigates methods for achieving more general manipulation capabilities for mobile manipulation platforms, which produce legible behavior in human living environments. To achieve generality and legibility, we combine two control mechanisms. First of all, experienceand observation-based learning of skills is applied to routine tasks, so that the repetitive and stereotypical character of everyday activity is exploited. Second, we use planning, reasoning, and search for novel tasks which have no stereotypical solution. We apply these ideas to the learning and use of action-related places, to the model-based visual recognition and localization of objects, and the learning and application of reaching strategies and motions from humans. We demonstrate the integration of these mechanisms into a single low-level control system for autonomous manipulation platforms.

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