HarvestPoint-ACT: Explicit Target Selection and Harvest-Point Conditioning for Robotic Fruit Harvesting under Occlusion

Hanying Hu, Weipeng Li, Yikun Huang +4

End-to-end imitation learning avoids hand-made robot motion for approaching and grasping, but the policy must still decide which fruit to pick and where to close the gripper. Occlu…