Precision at Speed: Sample-Efficient Online Model-Based Reinforcement Learning for Hydraulic Excavator Control

arXiv:2609.31025 · cs.RO, cs.LG, cs.SY, eess.SY · Submitted 2026-09-25 · Read on arXiv

cs.RO, cs.LG, cs.SY, eess.SY

Submitted: 2026-09-25

Updated: 2026-09-25

Terminology

• Accuracy — 17× in this paper · explained in 1 episode
• Reinforcement Learning — 12× in this paper · explained in 4 episodes
• Model-Based Reinforcement Learning — 6× in this paper
• Model Predictive Contouring Control — 4× in this paper
• Sample Efficiency — 4× in this paper · explained in 4 episodes
• Model Predictive Control — 3× in this paper
• Ablation — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Reward Function — 2× in this paper · explained in 2 episodes
• Stochastic Dynamics — 2× in this paper · explained in 2 episodes
• World Model — 2× in this paper · explained in 7 episodes
• Active Exploration — 1× in this paper · explained in 2 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Adaptability — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Advanced Mining Technology Center — 1× in this paper
• Aleatoric Uncertainty — 1× in this paper · explained in 5 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Dynamic Modeling — 1× in this paper · explained in 3 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Mean Squared Error — 1× in this paper
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Model Predictive Path Integral — 1× in this paper
• Model Predictive Path Integral (MPPI) — 1× in this paper · explained in 3 episodes

Sources

• Data-driven control of hydraulic impact hammers under strict operational and control constraints
• A Versatile Neural Network Configuration Space Planning and Control Strategy for Modular Soft Robot Arms
• Learning Soft Robotic Dynamics with Active Exploration
• MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints
• Rethinking Reference Trajectories in Agile Drone Racing: A Unified Reference-Free Model-Based Controller via MPPI

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