  Interactive perception enables robots to manipulate the environment and
objects to bring them into states that benefit the perception process.
Deformable objects pose challenges to this due to significant manipulation
difficulty and occlusion in vision-based perception. In this work, we address
such a problem with a setup involving both an active camera and an object
manipulator. Our approach is based on a sequential decision-making framework
and explicitly considers the motion regularity and structure in coupling the
camera and manipulator. We contribute a method for constructing and computing a
subspace, called Dynamic Active Vision Space (DAVS), for effectively utilizing
the regularity in motion exploration. The effectiveness of the framework and
approach are validated in both a simulation and a real dual-arm robot setup.
Our results confirm the necessity of an active camera and coordinative motion
in interactive perception for deformable objects.
