https://www.cnet.com/news/grabby-mit-robot-sorts-recycling-by-squeezing-it/

"Compatible with any robotic arm, RoCycle was found to be 85% accurate at detecting materials when stationary, and 63% accurate on an actual simulated conveyor belt," MIT CSAIL says.

RoCycle is built to withstand the messy work. The hand survived getting scraped by a sharp lid and weathered a series of needle punctures with minimal damage.