vs. 10–50 m3), lacks dust and vibration, and would require new demonstrations on the target industrial embodiment; the algorithmic workflow may transfer, but final deployment data must be collected at the relevant scale and hardware. This lab-to-mine gap is the primary limitation. Given the downtime and haulage costs documented in Section 1, partial automation could be economically meaningful, but quantifying return on investment requires mine-scale validation. From a research perspective, this work establishes a precedent for introducing IL methods to mining contexts, with applicability beyond dump pocket cleaning: the IL frame- work is task-agnostic, and manipulation tasks demonstrable via teleoperation may be studied using the same pipeline, suggesting relevance to ore pass clearing, secondary crusher feeding, and similar confined-space operations. This benchmark provides: (i) an accessible lab-scale dump-pocket testbed built on the open-source SO-ARM100 low-cost robot platform ($250 hardware), (ii) an open dataset (162 episodes) for reproducible comparisons, and (iii) a preliminary hypothesis that pretraining benefit depends on domain proximity. Concrete next steps include scaling the demonstration dataset with greater material variability, validating with industrial-scale arms, and testing under dust and vibration conditions. ACKNOWLEDGEMENTS The authors thank NONHUMAN for providing laboratory facilities and infras- tructure support that enabled this research. We are grateful to the open-source robotics community, particularly the developers of the SO-ARM100 platform and the open-source robot learning library [9], whose accessible tools and collaborative spirit made these experi- ments possible. We also acknowledge PUCP for institutional support. REFERENCES [1] BBVA Research. (2023). Peru: Mining sector outlook 2022. February 3, 2023. (PDF report). [2] Health and Safety Authority (HSA). (n.d.). Clearing Blocked Crushers. Quarrying: Crushing, Sizing & Screening guidance. [3] Health and Safety Executive (HSE). (n.d.). Safe operation and use of mobile jaw crushers. Quarries guidance (UK). [4] Mine Safety and Health Administration (MSHA). (2023). Fatality Report: September 8, 2023 Fatality - Final Report. U.S. Department of Labor. [5] Mine Safety and Health Administration (MSHA). (n.d.). Confined Space - Safety Alert. U.S. Department of Labor. [6] Metso. (2011). Crushing and Screening Handbook (5th ed.). (AusIMM-hosted hand- book PDF).
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