{"id":"https://openalex.org/W3049481978","doi":"https://doi.org/10.1109/iros45743.2020.9341598","title":"Towards RL-Based Hydraulic Excavator Automation","display_name":"Towards RL-Based Hydraulic Excavator Automation","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3049481978","doi":"https://doi.org/10.1109/iros45743.2020.9341598","mag":"3049481978"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341598","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341598","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/431607","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060721845","display_name":"Pascal Egli","orcid":"https://orcid.org/0000-0002-4432-1047"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Pascal Egli","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5060721845"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":2.7119,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.89805918,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2692","last_page":"2697"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10409","display_name":"Fuel Cells and Related Materials","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9664999842643738,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/excavator","display_name":"Excavator","score":0.9817236661911011},{"id":"https://openalex.org/keywords/shovel","display_name":"Shovel","score":0.6735796928405762},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5832589864730835},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5563684701919556},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5554938912391663},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5506146550178528},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.544651448726654},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.5032536387443542},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5016517639160156},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.48617857694625854},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4738509953022003},{"id":"https://openalex.org/keywords/electro-hydraulic-actuator","display_name":"Electro-hydraulic actuator","score":0.45149701833724976},{"id":"https://openalex.org/keywords/hydraulic-cylinder","display_name":"Hydraulic cylinder","score":0.4226491451263428},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36499857902526855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2808322310447693},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2765663266181946}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.9817236661911011},{"id":"https://openalex.org/C2781458734","wikidata":"https://www.wikidata.org/wiki/Q7220961","display_name":"Shovel","level":2,"score":0.6735796928405762},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5832589864730835},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5563684701919556},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5554938912391663},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5506146550178528},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.544651448726654},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.5032536387443542},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5016517639160156},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.48617857694625854},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4738509953022003},{"id":"https://openalex.org/C53432115","wikidata":"https://www.wikidata.org/wiki/Q5357907","display_name":"Electro-hydraulic actuator","level":3,"score":0.45149701833724976},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.4226491451263428},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36499857902526855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2808322310447693},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2765663266181946},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9341598","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341598","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/431607","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/431607","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/475773","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/475773","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.3929/ethz-b-000431607","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000431607","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/431607","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/431607","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1191599655","https://openalex.org/W1522301498","https://openalex.org/W1771410628","https://openalex.org/W1852251700","https://openalex.org/W1980035368","https://openalex.org/W2082254759","https://openalex.org/W2121490003","https://openalex.org/W2129380082","https://openalex.org/W2296073425","https://openalex.org/W2403171414","https://openalex.org/W2516734862","https://openalex.org/W2588172569","https://openalex.org/W2770749275","https://openalex.org/W2897462754","https://openalex.org/W2911087563","https://openalex.org/W2952691404","https://openalex.org/W2964121744","https://openalex.org/W3046238886","https://openalex.org/W6627932998","https://openalex.org/W6631190155","https://openalex.org/W6638018090","https://openalex.org/W6639064948","https://openalex.org/W6679787523","https://openalex.org/W6780852727"],"related_works":["https://openalex.org/W2361786960","https://openalex.org/W2362112066","https://openalex.org/W2791562083","https://openalex.org/W3035913110","https://openalex.org/W2188388613","https://openalex.org/W4383889576","https://openalex.org/W2992367205","https://openalex.org/W2373808219","https://openalex.org/W1972450215","https://openalex.org/W3177989151"],"abstract_inverted_index":{"In":[0],"this":[1],"article":[2],"we":[3,42],"present":[4],"a":[5,13,44,67,74,115],"data-driven":[6],"approach":[7],"for":[8,17,79,151],"automated":[9],"arm":[10,123],"control":[11,77,88,142],"of":[12,21,39,55,129,139],"hydraulic":[14,57,117],"excavator.":[15],"Except":[16],"the":[18,22,40,51,56,64,92,100,130,137,148],"link":[19,65],"lengths":[20,66],"excavator,":[23,41,118],"our":[24],"method":[25,109],"does":[26],"not":[27],"require":[28],"machine-specific":[29],"knowledge":[30],"nor":[31],"gain":[32],"tuning.":[33],"Using":[34],"data":[35],"collected":[36],"during":[37],"operation":[38],"train":[43,73],"general":[45],"purpose":[46],"model":[47],"to":[48,72,99,125,147],"effectively":[49],"represent":[50],"highly":[52],"non-linear":[53],"dynamics":[54],"actuation":[58],"and":[59,112,153],"joint":[60],"linkage.":[61],"Together":[62],"with":[63],"simulation":[68,146],"is":[69,110],"set":[70],"up":[71],"neural":[75],"network":[76],"policy":[78,89],"end-effector":[80],"position":[81,155],"tracking":[82],"using":[83],"reinforcement":[84],"learning":[85],"(RL).":[86],"The":[87,107,134],"directly":[90,140],"outputs":[91],"actuator":[93],"commands":[94],"that":[95],"can":[96],"be":[97],"applied":[98],"machine":[101],"without":[102],"unfounded":[103],"filtering":[104],"or":[105],"modification.":[106],"proposed":[108],"implemented":[111],"tested":[113],"on":[114],"12t":[116],"controlling":[119],"its":[120],"4":[121],"main":[122],"joints":[124],"track":[126],"desired":[127],"positions":[128],"shovel":[131],"in":[132,145],"free-space.":[133],"results":[135],"demonstrate":[136],"feasibility":[138],"applying":[141],"policies":[143],"trained":[144],"physical":[149],"excavator":[150],"accurate":[152],"stable":[154],"tracking.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":4}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}