IMITATION LEARNING AND REINFORCEMENT LEARNING FOR AUTOMATION OF EXCAVATION AND GROUND LEVELING WORK

Abstract

The civil engineering and construction fields are facing the problems of a declining population, a high aging rate compared to other industries, and a shortage of workers, including construction equipment oper- ators, and there is an urgent need to achieve automated construction and automated operation of construc- tion equipment by using AI. This paper outlines the author's recent approaches to automating excavation and ground leveling tasks in earthwork operations using imitation learning and reinforcement learning, and presents the results of experimental validation for excavation and grading tasks in simulations and simple experimental environments.