# Enhanced View Planning for Robotic Harvesting: Tackling Occlusions with Imitation Learning

arXiv: https://arxiv.org/abs/2503.10334 · HTML: https://mlsanity.com/paper/2503.10334/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Mar 2025.

## Built on by (most cited first, 2 of 2)

- [Find the Fruit: Zero-Shot Sim2Real RL for Occlusion-Aware Plant Manipulation](https://mlsanity.com/paper/2505.16547/) (2025)
- [Advancing site-specific disease and pest management in precision agriculture: From reasoning-driven foundation models to adaptive, feedback-based learning](https://mlsanity.com/paper/2510.24650/) (2025)

## Abstract (arXiv)

In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of the target crop. Traditional viewpoint planners and existing learning-based methods, depend on manually designed evaluation metrics or reward functions, often struggle to generalize to complex, unseen scenarios. Our method employs the Action Chunking with Transformer (ACT) algorithm to learn effective camera motion policies from expert demonstrations. This enables continuous six-degree-of-freedom (6-DoF) viewpoint adjustments that are smoother, more precise and reveal occluded targets. Extensive experiments in both simulated and real-world environments, featuring agricultural scenarios and a 6-DoF robot arm equipped with an RGB-D camera, demonstrate our method's superior success rate and efficiency, especially in complex occlusion conditions, as well as its ability to generalize across different crops without reprogramming. This study advances robotic harvesting by providing a practical "learn from demonstration" (LfD) solution to occlusion challenges, ultimately enhancing autonomous harvesting performance and productivity.