arXiv (OAI Expanded)
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IL-ACT: Imitation Learning with Adaptive Cartesian Tracking Control for a 30-ton Excavator
Autonomous excavator control is challenged by coupled kinematics, actuation lag, and uncertainty. We propose imitation learning and adaptive Cartesian tracking (IL-ACT), a novel motion control framework for a 30-ton-class excavator. An anchored, 14-input imitation policy pretrained on operator demon
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