Herb: A Home Exploring Robotic Butler

Siddhartha Srinivasa, Dave Ferguson, Casey Helfrich, Dmitry Berenson, Alvaro Collet, Rosen Diankov, Garratt Gallagher, Geoffrey Hollinger, James Kuffner, Michael Vande Weghe

Watch and comment on it on YouTube

Related Projects

Caging manipulation


We describe the architecture, algorithms, and experiments with Herb, an autonomous mobile manipulator that performs useful manipulation tasks in the home. We present new algorithms for searching for objects, learning to navigate in cluttered dynamic indoor scenes, recognizing and registering objects accurately in high clutter using vision, manipulating doors and other constrained objects using caging grasps, grasp planning and execution in clutter, and manipulation on pose and torque constraint manifolds. We also present rigorous real-world test results from the integration of these algorithms into a single mobile manipulator.


High-resolution images of Herb and the Intel kitchen.


  title={HERB: A Home Exploring Robotic Butler},
  author={Srinivasa, S. and Ferguson, D. and Helfrich, C. and Berenson, D. and Collet, A. and Diankov, R. 
  and Gallagher, G. and Hollinger, G. and Kuffner, J. and VandeWeghe, M.},
  booktitle={Autonomous Robots},