Fig. 1. Comparison of the ability of a simulated environment and a real dozer to grade an area studded with piles. Top row: RGB images of our experimental setup (see Section III-C) showing the scaled dozer facing the sand piles. Middle row: Representative height-maps of states in the real environment. Depth observations were projected onto world coordinates using orthographic projections [4]. Bottom row: Similar states observed in the simulated environment. In the middle and bottom rows, the right column is the initial state space, and all the others, states after actions were taken in the simulated and real environments. This figure clearly depicts the resemblance between the simulated and real height-maps in the grading task.

Fig. 1. A comparison of grading policy between a simulated dozer and a real world scaled prototype on an area containing sand piles. Here, the agent is provided with an initial graded area and is required to extend it by pushing newly added sand piles. Top Row: Photos of our experimental setup (see Section IV-A) showing the scaled dozer prototype facing the sand piles. Middle & Bottom Rows: Heightmaps extracted from our simulation and scaled experimental setup respectively. Sand piles are captured as dark blobs that indicate their height. Each column compares the grading policy in the experimental setup and the simulation on a similar scenario.

Surface grading, the process of leveling an uneven area containing pre-dumped sand piles, is an important task in the construction site pipeline. This labour-intensive process is often carried out by a dozer, a key machinery tool at any construction site. Current attempts to automate surface grading assume perfect localization. However, in real-world scenarios, this assumption fails, as agents are presented with imperfect perception, which leads to degraded performance. In this work, we address the problem of autonomous grading under uncertainties. First, we implement a simulation and a scaled real-world prototype environment to enable rapid policy exploration and evaluation in this setting. Second, we formalize the problem as a partially observable markov decision process and train an agent capable of handling such uncertainties. We show, through rigorous experiments, that an agent trained under perfect localization will suffer degraded performance when presented with localization uncertainties. However, an agent trained using our method will develop a more robust policy for addressing such errors and, consequently, exhibit a better grading performance.

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