A diffusion-policy visuomotor controller trained on 300 handheld demonstrations achieved 28.95% success harvesting peppers in an unprotected outdoor field, with a 31.7s cycle time.
Leveraging imitation learning in agricultural robotics: A comprehensive survey and comparative analysis,
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Autonomous Robotic Pepper Harvesting: Imitation Learning in Unstructured Agricultural Environments
A diffusion-policy visuomotor controller trained on 300 handheld demonstrations achieved 28.95% success harvesting peppers in an unprotected outdoor field, with a 31.7s cycle time.