The video below shows YAM reading labels, adapting its motion, and revealing an occluded target.
Read the labels, place it right
The robot reads the brand labels on a bottle and a bag, then places each drink in the matching bag. After grasping a bottle, it performs a small test lift to verify the grasp; when the original path is unavailable, it changes its wrist posture and continues. When a spoon is hidden under bowls, it moves the bowls away before attempting the grasp.
This is an observation, decision, action, and correction loop rather than a pre-written sequence.