3 papers
cs.RO2026
A real-time RGB-D perception pipeline for autonomous impact hammers in mining: self-filtering, rock segmentation and rock-breaking poses generation
MartÃn Gallegos, Francisco Leiva, Patricio Loncomilla +2
Impact hammers, also known as rock-breakers, are essential machines in mining operations, where they perform secondary reduction. In underground mining, these machines are typicall…
cs.RO2026
Let the Dynamics Flow: Stable Flow Matching Dynamical Systems
Rodrigo Pérez-Dattari, Francisco Leiva, Andrea Testa +3
Flow matching has recently emerged as a powerful approach for imitation learning, enabling scalable, expressive, and multimodal motion policies. However, when modeling these polici…
cs.RO2026
Data-driven control of hydraulic impact hammers under strict operational and control constraints
Francisco Leiva, Claudio Canales, Michelle Valenzuela +1
This paper presents a data-driven methodology for the control of static hydraulic impact hammers, also known as rock breakers, which are commonly used in the mining industry. The t…