Robotic Excavation

Latest papers

12 papers7 papers in the last four weeks, up 133% on the four weeks before. 0.0% of all new papers.

From LLM Plans to Authorized Motion: Execution-Bound Authorization for Excavators
Oct 9, 2026Mehdi Heydari Shahna, Seihun Kim, Soyi Jung +3Robotic Excavation Robotics
Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland · Department of Electrical and Computer Engineering, Korea University, Seoul, Republic of Korea
ExcavaTwin: Training-Free Geometry-Guided Semantic Elevation Mapping for Autonomous Excavation
Sep 28, 2026Yu Deng, Lingshan Zeng, Tong Hu +1Multi-View Feature Fusion Robotic Excavation
The Smart Manufacturing Thrust, The Hong Kong University of Science and Technology (Guangzhou) · Department of Electronic and Electrical Engineering, Southern University of Science and Technology. · Capstone Technology Co., Ltd., Shenzhen, China.
From Target Selection to Digging: A Learning-Based Framework for Continuous Autonomous Excavation
Sep 24, 2026Shuai Zhao, Ji-an Pan, Quantao Yang +4RL for Robotics Robotic Excavation
Liaoning University. · Northeastern University. · KTH Royal Institute of Technology, Stockholm, Sweden. +1
Designing an Efficient Excavator Bucket for Lunar ISRU: A Comparative Study with Vision-Based Fill and Displacement Analysis
Sep 22, 2026Abdulla Hil Kafi, Tomoki Koshi, Jorge Casir +1Space Robotics Robotic Excavation
Department of Mechanical and control Engineering, Kyushu Institute of Technology, Kitakyushu 804-8550, Japan
PileBelief: Persistent Physical State for Interaction-Driven World Modeling
Sep 19, 2026Hongyi Lin, Song Zhang, Haiquan Liu +3Robotic Excavation World Models for Robotics
Tsinghua University · Massachusetts Institute of Technology · Tsing-AI(Shanghai) Technology Co., Ltd
IL-ACT: Imitation Learning with Adaptive Cartesian Tracking Control for a 30-ton Excavator
Sep 15, 2026Mehdi Heydari Shahna, Seihun Kim, Soyi Jung +3Robotic Control Robot Trajectory Tracking
Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland · Department of Defense Convergence Technology, Korea University, Seoul, Republic of Korea · Department of Electrical and Computer Engineering, Korea University, Seoul, Republic of Korea +2
From Prediction to Decision: World-Model-Guided Action Selection for Continuous Pile Excavation
Sep 14, 2026Ailing Zhang, Fan Gao, Song Zhang +3World Models for Robotics Action-Conditioned World Models
1Tsing-AI (Shanghai) Technology Co., Ltd. · 2Shanghai Jiao Tong University. · 3Shanghai Ocean University.
Size Doesn't Matter: Material-State Reinforcement Learning for Excavator Transferable Soil Manipulation
Sep 11, 2026Lennart Werner, Pol Eyschen, Sean Costello +3RL for Robotics Deformable Object Manipulation
Robotic Systems Lab, ETH Zürich, Leonhardstrasse 21, 8092 Zürich, Switzerland · Hexagon Innovation Hub GmbH, Heinrich-Wild-Strasse 201, 9435 Heerbrugg, Switzerland
Vision Guided Target Conditioned Control for Autonomous Excavation
Aug 22, 2026Shuai Zhao, Ji-An Pan, Junwei Li +5Robotic Excavation Goal-Conditioned Robotic Manipulation
Liaoning University, Shenyang, China · Northeastern University, Shenyang, China · Tsinghua University, Beijing, China
Mining beyond Earth with Space Robots: Exploration, Sampling, and Extraction
Aug 21, 2026Dong Li, Dujun Nie, Xiaotong Zhang +11Robotic Excavation Space Robotics
Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China · OpenSpace Lab, China · School of Computation, Information and Technology, Technical University of Munich, Munich, 80333, Germany +8
[Preprint] Dynamic Modeling, Gait Synthesis, and Control of a Novel Subsurface Bore Propagator
Jul 1, 2026Lina van Brügge, Shruti Kotpalliwar, Anton Koval +2Robotic Control Robot Dynamics Identification
Autonomous Obstacle Removal for Excavators through Policy Learning with Particle Simulation
Jun 8, 2026Yuki Kadokawa, Sandro M. Alcantara Tacora, Taro Abe +4Robot Policy Learning Sim-to-Real Transfer
Nara Institute of Science and Technology · Public Works Research Institute, Ibaraki 300-2621, Japan

Oct 9, 2026J/K move · Enter open · S save

From LLM Plans to Authorized Motion: Execution-Bound Authorization for Excavators

Mehdi Heydari Shahna, Seihun Kim, Soyi Jung, Soohyun Park+2

Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland · Department of Electrical and Computer Engineering, Korea University, Seoul, Republic of Korea

Robotic Excavation Robotics Runtime Enforcement for AI Agents LLM Agent Safety

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An LLM-directed excavator can execute mechanically feasible motion whose destination or authority no longer matches the operator's approval. We propose execution-bound authorization for the approval--dispatch--execution interval. A one-use lease binds the action, generated motion, mission contract and admission tolerance; atomic dispatch rechecks current authority and measured joint drift. Periodic supervision detects revocation and requests a quintic stop with a carry-pitch endpoint, selected through sampled joint, stroke, flow and reference-acceleration checks. The framework connects exact motion identity to dispatch integrity and load-aware interruption. Evaluation combines a 672-case interface suite, four loaded digging cases in synchronous simulation, unloaded MuJoCo/Pinocchio transfers and two command-level LLM planners. The gateway admitted all 120 benign interface cases and produced zero unauthorized dispatches in the attack suite. Loaded dispatch-window tests produced zero unauthorized deposition. During simulated dump-phase revocation, maximum closed-site deposition decreased from 1.23 to 0.33,m

^3

; loaded-slew stops used less than 75% of nominal swing torque. These results demonstrate motion-bound authorization and quantify the retention and stopping behavior of supervised excavation skills.