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

• URL: http://arxiv.org/abs/2607.03616v1
• Date: Fri, 03 Jul 2026 22:14:48 GMT
• Title: ROBOCYCLE: Autonomous Dual-Arm Robotic Manipulation and Coordination for Recycling Applications
• Abstract summary: ROBOCYCLE is an autonomous dual-arm robotic recycling platform designed to meet the recycling standards of the Tokyo metropolitan area.<n>Our approach integrates multi-view RGB-D perception, transformer-based instance segmentation using RF-DETR, and 6-DoF grasp planning via the Anygrasp SDK.<n>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.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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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