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This work presents a real-time hybrid rigid\u2013soft 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.<\/jats:p>","DOI":"10.1177\/21695172261439479","type":"journal-article","created":{"date-parts":[[2026,4,27]],"date-time":"2026-04-27T15:17:49Z","timestamp":1777303069000},"page":"799-808","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["HyReach: Vision-Guided Hybrid Manipulator Reaching in Cluttered Unseen Environments"],"prefix":"10.1177","volume":"13","author":[{"given":"Shivani","family":"Kamtikar","sequence":"first","affiliation":[{"name":"University of Illinois Urbana-Champaign, Urbana, Illinois, USA."},{"name":"Computer Science University of Illinois Urbana-Champaign, Urbana, Illinois, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kendall","family":"Koe","sequence":"additional","affiliation":[{"name":"University of Illinois Urbana-Champaign, Urbana, Illinois, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Justin","family":"Wasserman","sequence":"additional","affiliation":[{"name":"Skild AI, San Francisco, California, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Samhita","family":"Marri","sequence":"additional","affiliation":[{"name":"Electrical and Computer Engineering, University of Illinois Urbana-Champaign, Urbana, Illinois, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Benjamin","family":"Walt","sequence":"additional","affiliation":[{"name":"Mechanical Science &amp; Engineering, University of Illinois Urbana-Champaign, Urbana, Illinois, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Naveen Kumar","family":"Uppalapati","sequence":"additional","affiliation":[{"name":"National Center for Supercomputing Applications, University of Illinois Urbana-Champaign, Urbana, Illinois, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Girish","family":"Krishnan","sequence":"additional","affiliation":[{"name":"Industrial &amp; Enterprise Systems Engineering, University of Illinois Urbana-Champaign, Urbana, Illinois, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Girish","family":"Chowdhary","sequence":"additional","affiliation":[{"name":"University of Illinois Urbana-Champaign, Urbana, Illinois, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2026,4,27]]},"reference":[{"key":"e_1_3_2_2_1","doi-asserted-by":"publisher","DOI":"10.3390\/s23198278"},{"key":"e_1_3_2_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3381558"},{"key":"e_1_3_2_4_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2024.XX.062"},{"key":"e_1_3_2_5_1","doi-asserted-by":"crossref","unstructured":"4.Wang K Wang Z Nakagaki K et al. \u201cPush-That-There\u201d: Tabletop Multi-robot Object Manipulation via Multimodal\u2019Object-level Instruction\u2019. 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