@techreport{Katz-12,
   author = "Dov Katz and Moslem Kazemi and J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz",
   title = "Clearing a Pile of Unknown Objects using Interactive Perception",
   booktitle = "",
   institution = "Robotics Institute",
   month = "November",
   year = "2012",
   number= "CMU-RI-TR-12-34",
   address= "Pittsburgh, PA",
}