---
publication_id: "OT-2026-000001731"
title: "Yield checking for a hand-held manipulation device"
published_at: "2026-09-15T19:08:00.157034Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001731"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/0081"
  - "b25j9/0081"
  - "g06f3/02"
  - "a45f2003/144"
  - "a45f2003/144"
  - "a45f3/14"
---

# Yield checking for a hand-held manipulation device

## Abstract

A method includes receiving a mapping video of a scene; generating a map of the scene based on the mapping video; receiving a plurality of demonstration videos of a hand-held manipulation device performing one or more tasks in the scene; for each video among the plurality of demonstration videos, determining whether the hand-held manipulation device can be localized in the scene based on the video and the map; and for each video among the plurality of demonstration videos for which the hand-held manipulation device can be localized in the scene, localizing the hand-held manipulation device in the scene based on the video and the map, and storing the video as training data.