Abhinav Jain

Visuomotor Robotic Pruning in Planar Orchards Using Hybrid Reinforcement Learning

Dormant tree pruning is labor-intensive yet essential for maintaining modern high-productivity fruit orchards. In this work, we focus on pruning of modern planar tree training systems - V-Trellis apples and UFO cherries - where trunks and primary branches are trained into approximately planar walls. We introduce an end...