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Visuomotor Robotic Pruning in Planar Orchards Using Hybrid Reinforcement Learning

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Dormant tree pruning is labor-intensive yet essential for maintaining modern high-productivity fruit orchards. In this work, we focus on pruning of modern planar tree training systems - V-Trellis apples and UFO cherries - where trunks and primary branches are trained into approximately planar walls. We introduce an end-to-end pipeline to learn a closed-loop visuomotor controller for robotic pruning. This controller is trained entirely using simulation and synthetically generated data and deployed in real orchards in a zero-shot manner. The pipeline comprises synthetic generation of planar orch

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