ExcavaTwin: Training-Free Geometry-Guided Semantic Elevation Mapping for Autonomous Excavation

arXiv:2609.34719 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Terminology

• Accuracy — 9× in this paper · explained in 1 episode
• Consistency — 9× in this paper · explained in 3 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Clustering — 3× in this paper · explained in 2 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Admissibility — 2× in this paper · explained in 2 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Outdoor Construction Excavation Site — 2× in this paper
• Transformer — 2× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes

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