HyReach: Vision-Guided Hybrid Manipulator Reaching in Unseen Cluttered Environments

ArXi:2603.21421v1 Announce Type: cross As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time hybrid rigid-soft continuum manipulator system designed for robust open-world object reaching in such challenging environments. The system integrates vision-based perception and 3D scene reconstruction with shape-aware motion planning to generate safe trajectories.