Graph-Based Adaptive Planning for Coordinated Dual-Arm Robotic Disassembly of Electronic Devices (eGRAP)
eGRAP is a perception-driven planning framework for dual-arm robotic disassembly of electronics. It converts live RGB-D detections into a precedence graph to determine the correct removal order. This allows robots to adapt in real time to unseen parts or changes, generalizing across different devices by separating reasoning from specific product details.