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arXiv · 2607.03616

ROBOCYCLE: Autonomous Dual-Arm Robotic Manipulation and Coordination for Recycling Applications

Rubén de J. Hilario-Cruz·Jesus A. García-González·Enrique Coronado·Arturo E. Cerón-López
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Abstract

As urban waste volumes escalate and labor shortages intensify, automated waste sorting systems are becoming a necessity. However, current robotic solutions often struggle with the 3D perception and manipulation of transparent, deformable, or cluttered objects. This work introduces ROBOCYCLE, an autonomous dual-arm robotic recycling platform designed to meet the recycling standards of the Tokyo metropolitan area. Our approach integrates multi-view RGB-D perception, transformer-based instance segmentation using RF-DETR, and 6-DoF grasp planning via the Anygrasp SDK. By processing segmentated point clouds, the system generates robust candidate poses for irregular and deformable waste. The system achieved a 90.3% grasp success rate and 84.3% overall task success rate, effectively performing complex coordinated tasks such as unscrewing PET bottle caps. The proposed platform offers a scalable solution for autonomous waste management in real-world human environments.

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Rubén de J. Hilario-Cruz, Jesus A. García-González, Enrique Coronado, Arturo E. Cerón-López. 2026-07-03. ROBOCYCLE: Autonomous Dual-Arm Robotic Manipulation and Coordination for Recycling Applications. https://arxiv.org/abs/2607.03616

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