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The holy grail of robotics since the field’s beginning has been to build a robot that can do our housework. But for a long time, that has just been a dream. While roboticists have been able to get robots to do impressive things in the lab, such as parkour, this usually requires meticulous planning in a tightly-controlled setting. This makes it hard for robots to work reliably in homes around children and pets, homes have wildly varying floorplans, and contain all sorts of  mess.