  The Amazon Picking Challenge (APC), held alongside the International
Conference on Robotics and Automation in May 2015 in Seattle, challenged
roboticists from academia and industry to demonstrate fully automated solutions
to the problem of picking objects from shelves in a warehouse fulfillment
scenario. Packing density, object variability, speed, and reliability are the
main complexities of the task. The picking challenge serves both as a
motivation and an instrument to focus research efforts on a specific
manipulation problem. In this document, we describe Team MIT's approach to the
competition, including design considerations, contributions, and performance,
and we compile the lessons learned. We also describe what we think are the main
remaining challenges.
