A burial-conditioned curriculum in particle simulation trains effective policies for excavator obstacle removal that transfer successfully to a real 12-ton excavator.
Granular Gym: High Performance Simulation for Robotic Tasks with Granular Materials,
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Autonomous Obstacle Removal for Excavators through Policy Learning with Particle Simulation
A burial-conditioned curriculum in particle simulation trains effective policies for excavator obstacle removal that transfer successfully to a real 12-ton excavator.