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

arXiv: https://arxiv.org/abs/2603.21421 · HTML: https://mlsanity.com/paper/2603.21421/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 17 of its 49 references that are in the map.
- First posted on arXiv 22 Mar 2026.

## Builds on (most cited first, 17 of 17)

- [Grounding Image Matching in 3D with MASt3R](https://mlsanity.com/paper/2406.09756/) (2024)
- [YOLO-World: Real-Time Open-Vocabulary Object Detection](https://mlsanity.com/paper/2401.17270/) (2024)
- [MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting](https://mlsanity.com/paper/2403.03174/) (2024)
- [Learning Robotic Manipulation Policies from Point Clouds with Conditional Flow Matching](https://mlsanity.com/paper/2409.07343/) (2024)
- [Point Cloud Matters: Rethinking the Impact of Different Observation Spaces on Robot Learning](https://mlsanity.com/paper/2402.02500/) (2024)
- [IFOR: Iterative Flow Minimization for Robotic Object Rearrangement](https://mlsanity.com/paper/2202.00732/) (2022)
- [Learning Human-to-Robot Handovers from Point Clouds](https://mlsanity.com/paper/2303.17592/) (2023)
- [Elastica: A compliant mechanics environment for soft robotic control](https://mlsanity.com/paper/2009.08422/) (2020)
- [GenH2R: Learning Generalizable Human-to-Robot Handover via Scalable Simulation, Demonstration, and Imitation](https://mlsanity.com/paper/2401.00929/) (2024)
- [Toward Optimal Tabletop Rearrangement with Multiple Manipulation Primitives](https://mlsanity.com/paper/2310.00167/) (2023)
- [Visual Servoing for Pose Control of Soft Continuum Arm in a Structured Environment](https://mlsanity.com/paper/2202.05200/) (2022)
- [Distributed Sensor Networks Deployed Using Soft Growing Robots](https://mlsanity.com/paper/2012.07899/) (2020)
- [Estimating Infinite-Dimensional Continuum Robot States From the Tip](https://mlsanity.com/paper/2311.01517/) (2023)
- [S-RRT*-based Obstacle Avoidance Autonomous Motion Planner for Continuum-rigid Manipulator](https://mlsanity.com/paper/2409.19110/) (2024)
- [Efficient RRT*-based Safety-Constrained Motion Planning for Continuum Robots in Dynamic Environments](https://mlsanity.com/paper/2309.13813/) (2023)
- [Grasping by Spiraling: Reproducing Elephant Movements with Rigid-Soft Robot Synergy](https://mlsanity.com/paper/2504.01507/) (2025)
- [Shape-Space Graphs: Fast and Collision-Free Path Planning for Soft Robots](https://mlsanity.com/paper/2510.03547/) (2025)

## Built on by (most cited first, 1 of 1)

- [THREAD: Trajectory Planning for Hybrid Rigid-Soft Manipulators with Environment-Aware Diffusion](https://mlsanity.com/paper/2606.21792/) (2026)

## Abstract (arXiv)

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. A learning-based controller drives the hybrid arm to arbitrary target poses, leveraging the flexibility of the soft segment while maintaining the precision of the rigid segment. The system operates without environment-specific retraining, enabling direct generalization to new scenes. Extensive real-world experiments demonstrate consistent reaching performance with errors below 2 cm across diverse cluttered setups, highlighting the potential of hybrid manipulators for adaptive and reliable operation in unstructured environments.