Autonomous loading of ore piles with Load-Haul-Dump machines using deep reinforcement learning

Rodrigo Salas, Francisco Leiva, Javier Ruiz-del-Solar

Abstract: Highlights•A methodology to synthesize deep RL-based controllers for the loading task performed by LHDs.•The development of a simple simulated environment that uses a classical soil model to compute the main forces involved in the agent-environment interaction.•An empirical validation of the controllers in the real world using a scaled LHD.