ARRC: Advanced Reasoning Robot Control - Knowledge-Driven Autonomous Manipulation Using Retrieval-Augmented Generation

Each action is represented as a tu-ple of an action label and bounded parameters (e.g., APPROACH OBJECT {label: "bottle", hover mm: 30, timeout sec: 8}). B. Hierarchical Scanning Algorithm The manipulator system employs a two-phase scanning routine for robust object detection. In the first phase, a horizontal scan is performed across the workspace at a fixed height, where the perception module inspects each sampled position for potential targets. If no objects are detected, the system transitions to a fallback arc scan, which uses three predetermined joint-space configurations (LEFT, CENTER, and RIGHT). These configurations are hardcoded to ensure safe, repeatable coverage of the workspace and avoid kinematic singularities, providing a deterministic alternative to Cartesian waypoint-based exploration. C. Coordinate Transformation Pipeline Object coordinates obtained from AprilTags are first expressed in the eye-in-hand camera frame and then transformed into the robot base frame using calibrated transformations. These base-frame coordinates are subsequently used for inverse kinematics computations during manipulation. The transformed coordinates are stored in memory and retrieved on demand, depending on the specific objects referenced in the execution plan generated by the LLM.