Semi-autonomous refuse collection

A refuse collection vehicle, comprising:

• at least one environmental monitoring sensor;
• a grabber operable to engage a refuse container;
• a lift arm coupled to the grabber, the lift arm operable to extend outward from a side of the refuse collection vehicle and to raise and lower the grabber;
• and
• one or more processors configured to perform operations comprising:
• initiating a dump cycle performed by the refuse collection vehicle on the refuse container, the dump cycle comprising:
• initiating movement of the lift arm to engage the refuse container with the grabber;
• engaging the refuse container with the grabber;
• lifting, using the lift arm, the engaged refuse container to a dump position to release contents of the refuse container into a hopper of the refuse collection vehicle;
• during the dump cycle, receiving sensor data from the at least one environmental monitoring sensor;
• detecting, based on the sensor data, a hazard detected along a path of travel of the lift arm;
• and
• responsive to detecting the hazard, automatically stopping the dump cycle.