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Research on Pedicel-Targeted Strawberry Harvesting via Imitation Learning on a Low-Cost Teleoperated Robotic Arm

This work proposes a visuomotor imitation learning pipeline for pedicel-targeted strawberry harvesting that unifies perception, motion planning, and contact manipulation: data is collected from human teleoperation demonstrations, an Action Chunking with Transformers (ACT) policy with a ResNet-50 visual backbone is trained, and the policy is deployed autonomously on a Jetson AGX Orin edge platform at 15 Hz.

Part of the event: Open-Source Imitation Learning Pipeline for Strawberry Peduncle Grasping

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