Towards RL-Based Hydraulic Excavator Automation
Pascal Egli,Marco Hutter,Pascal Egli,Marco Hutter
In this article we present a data-driven approach for automated arm control of a hydraulic excavator. Except for the link lengths of the excavator, our method does not require machine-specific knowledge nor gain tuning. Using data collected during operation of the excavator, we train a general purpose model to effectively represent the highly non-linear dynamics of the hydraulic actuation and join...
