Picking a Conveyor Clean by an Autonomously Learning Robot. - Janne V. Kujala; Tuomas J. Lukka; Harri Holopainen (CoRR, 2015)

Classifying and sorting cluttered piles of unknown objects with robots: A learning approach. - Janne V. Kujala; Tuomas J. Lukka; Harri Holopainen (IROS, 2016)