Washer agitates on self-diagnosis but not with laundry in the machine.

I have a Kenmore washer 110.20022014 model. When laundry is in the machine it fills up, doesn't begin agitation, and immediately begins to empty. I ran the self-diagnosis and the machine agitates just fine when it is empty. I have already checked the dogs and the lid switch and they are fine. What are the progressing steps I need to take in order to figure out what could be the problem?