# Developing a Simple Model for Sand-Tool Interaction and Autonomously Shaping Sand

arXiv: https://arxiv.org/abs/1908.02745 · HTML: https://mlsanity.com/paper/1908.02745/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Aug 2019.

## Built on by (most cited first, 3 of 3)

- [Towards Autonomous Grading In The Real World](https://mlsanity.com/paper/2206.06091/) (2022)
- [AGPNet -- Autonomous Grading Policy Network](https://mlsanity.com/paper/2112.10877/) (2021)
- [Interactive Shaping of Granular Media Using Reinforcement Learning](https://mlsanity.com/paper/2509.06469/) (2025)

## Abstract (arXiv)

Autonomy for robots interacting with sand will enable a wide range of beneficial behaviors, from earth moving for construction and farming vehicles to navigating rough terrain for Mars rovers. The goal of this work is to shape sand into desired forms. Unlike other common autonomous tasks of achieving desired state of a robot, achieving a desired shape of a continuously deformable environment like sand is a much more challenging task. The state of robot can be described with a couple of states-x, y, z, roll, pitch, yaw-but the desired shape of sand can not be described with just a few values. Sand is an aggregation of billions of small particles. After simplifying the model of sand and tool interaction by looking only at the surface of the heightmap, we can formulate the problems into something that is still high dimensional (hundreds to thousands of state dimensions) but much more solvable. We show how this problem can be formulated into a graph search problem and solve it with the A-star algorithm and report preliminary results on using deep reinforcement learning methods like Deep Q-Network and Deep Deterministic Policy Gradient.