Learning Grasp Targeting from Point Clouds for Log Pile Clearing on a Hydraulic Crane

Excerpt

arXiv:2610.07613v1 Announce Type: cross Abstract: In mill yards, log loaders clear dense piles by a sequence of bundle grasps: hundreds of logs rest in contact, and each removal changes the pile available to the next grasp. A learned policy chooses where to place and orient the grapple from unsegmented point clouds and runs on a trailer-mounted hydraulic forestry crane. The policy classifies at which observed point to grasp and predicts depth and grapple orientation there. The same network outpu