6 papers
FORWARD: Dataset of a forwarder operating in rough terrain
Mikael Lundbäck, Erik Wallin, Carola Häggström +8
We present FORWARD, a high-resolution multimodal dataset of a cut-to-length forwarder operating in rough terrain on two harvest sites in the middle part of Sweden. The forwarder is…
Optimizing wheel loader performance -- an end-to-end approach
Koji Aoshima, Eddie Wadbro, Martin Servin
Wheel loaders in mines and construction sites repeatedly load soil from a pile to load receivers. Automating this task presents a challenging planning problem since each loading's…
Synthesizing multi-log grasp poses in cluttered environments
Arvid Fälldin, Tommy Löfstedt, Tobias Semberg +2
Multi-object grasping is a challenging task. It is important for energy and cost-efficient operation of industrial crane manipulators, such as those used to collect tree logs from…
Examining the simulation-to-reality gap of a wheel loader digging in deformable terrain
Koji Aoshima, Martin Servin
We investigate how well a physics-based simulator can replicate a real wheel loader performing bucket filling in a pile of soil. The comparison is made using field test time series…
World Modeling for Autonomous Wheel Loaders
Koji Aoshima, Arvid Fälldin, Eddie Wadbro +1
This paper presents a method for learning world models for wheel loaders performing automatic loading actions on a pile of soil. Data-driven models were learned to output the resul…
Multi-log grasping using reinforcement learning and virtual visual servoing
Erik Wallin, Viktor Wiberg, Martin Servin
We explore multi-log grasping using reinforcement learning and virtual visual servoing for automated forwarding in a simulated environment. Automation of forest processes is a majo…