82 citations · 90 across the 6 of their papers we have counts for
6 papers
Towards Learning Boulder Excavation with Hydraulic Excavators
Jonas Gruetter, Lorenzo Terenzi, Pascal Egli +1
Construction sites frequently require removing large rocks before excavation or grading can proceed. Human operators typically extract these boulders using only standard digging bu…
ExT: Towards Scalable Autonomous Excavation via Large-Scale Multi-Task Pretraining and Fine-Tuning
Yifan Zhai, Lorenzo Terenzi, Patrick Frey +3
Scaling up the deployment of autonomous excavators is of great economic and societal importance. Yet it remains a challenging problem, as effective systems must robustly handle uns…
Large Scale Robotic Material Handling: Learning, Planning, and Control
Filippo A. Spinelli, Yifan Zhai, Fang Nan +6
Bulk material handling involves the efficient and precise moving of large quantities of materials, a core operation in many industries, including cargo ship unloading, waste sortin…
Reinforcement Learning Control for Autonomous Hydraulic Material Handling Machines with Underactuated Tools
Filippo A. Spinelli, Pascal Egli, Julian Nubert +6
The precise and safe control of heavy material handling machines presents numerous challenges due to the hard-to-model hydraulically actuated joints and the need for collision-free…
HEAP -- The autonomous walking excavator
Dominic Jud, Simon Kerscher, Martin Wermelinger +5
The demand and the potential for automation in the construction sector is unmatched, particularly for increasing environmental sustainability, improving worker safety and reducing…
Towards Autonomous Robotic Precision Harvesting: Mapping, Localization, Planning and Control for a Legged Tree Harvester
Edo Jelavic, Dominic Jud, Pascal Egli +1
This paper presents an integrated system for performing precision harvesting missions using a legged harvester. Our harvester performs a challenging task of autonomous navigation a…