From Target Selection to Digging: A Learning-Based Framework for Continuous Autonomous Excavation

arXiv:2609.29750 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-26

Terminology

• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Transformer — 4× in this paper · explained in 2 episodes
• Action Chunking — 2× in this paper · explained in 1 episode
• Action Chunking with Transformers — 2× in this paper
• Consistency — 2× in this paper · explained in 3 episodes
• Hysteresis — 2× in this paper · explained in 3 episodes
• Temporal consistency — 2× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Human-in-the-Loop — 1× in this paper · explained in 3 episodes
• Motion Primitives — 1× in this paper · explained in 2 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• Task Planning — 1× in this paper · explained in 2 episodes

Sources

• Large Scale Robotic Material Handling: Learning, Planning, and Control
• Towards Autonomous Excavation Planning
• Learning Excavation of Rigid Objects with Offline Reinforcement Learning
• Towards Learning Boulder Excavation with Hydraulic Excavators
• ExACT: An End-to-End Autonomous Excavator System Using Action Chunking With Transformers
• ExT: Towards Scalable Autonomous Excavation via Large-Scale Multi-Task Pretraining and Fine-Tuning
• Proximal Policy Optimization Algorithms

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