  Tasks in outdoor open world environments are now ripe for automation with
mobile manipulators. The dynamic, unstructured and unknown environments
associated with such tasks -- a prime example would be collecting roadside
trash -- makes them particularly challenging. In this paper we present an
approach to solving the problem of picking up, transporting, and dropping off
novel objects outdoors. Our solution integrates a navigation system, a grasp
detection and planning system, and a custom task planner. We perform
experiments that demonstrate that the system can be used to transport a wide
class of novel objects (trash bags, general garbage, gardening tools and
fruits) in unstructured settings outdoors with a relatively high end-to-end
success rate of 85%. See it at work at: https://youtu.be/93nWXhaGEWA
