My work and collaborations aim to discover methods for computational reasoning and perception that will enable robots to effectively assist people in common human environments. Essentially, we explore how to make the real world programmable through the control of autonomous robots. Critical challenges towards this goal are enabling robots to perceive our world (i.e., "robots can't work if they can't see"), reason under uncertainty, and learn from human users. This research pertains primarily to interactive robotics with contributions the technology of robot perception and mobile manipulation towards enabling the usability of this technology by people in real situations. Because science is exactly independently verifiable knowledge, open-source contributions and reproducibility are critical features of my work.