{"paper":{"title":"Learning a System-Level Surrogate for Hydraulic Excavators: A Simulation-to-Real LSTM Approach","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Chenyu Wang, Donghai Shi, Muguo Du, Qiang Wang, Shen Wang, Shuai Wang, Xiaofeng Tao","submitted_at":"2026-07-17T06:04:08Z","abstract_excerpt":"Developing autonomous hydraulic excavators is constrained by limited access to physical machines and the high cost of real-world experimentation. This paper proposes a simulation-to-real framework for learning a system-level digital surrogate using Long Short-Term Memory (LSTM) networks. Instead of modeling internal dynamics, the excavator is treated as an input-output operator, and the surrogate is trained to reproduce its closed-loop behavior under identical control inputs. The approach is first validated in a MuJoCo simulation environment and then transferred to a real excavator. To address"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.15656","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.15656/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}