3 papers
cs.RO2025
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…
cs.RO2025
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…
cs.RO2024
ETHcavation: A Dataset and Pipeline for Panoptic Scene Understanding and Object Tracking in Dynamic Construction Environments
Lorenzo Terenzi, Julian Nubert, Pol Eyschen +4
Construction sites are challenging environments for autonomous systems due to their unstructured nature and the presence of dynamic actors, such as workers and machinery. This work…