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This paper is a study of 2D manipulation without sensing and planning, byexploring the effects of unplanned randomized action sequences on 2D objectpose uncertainty. Our approach follows the work of Erdmann and Mason'ssensorless reorienting of an object into a completely determined pose,regardless of its initial pose. While Erdmann and Mason proposed a method usingNewtonian mechanics, this paper shows that under some circumstances, a longenough sequence of random actions will also converge toward a determined finalpose of the object. This is verified through several simulation and real robotexperiments where randomized action sequences are shown to reduce entropy ofthe object pose distribution. The effects of varying object shapes, actionsequences, and surface friction are also explored.

Sensorless Pose Determination using Randomized Action Sequences