-- Dormant tree pruning is labor-intensive but essential to maintaining modern highly-productive fruit orchards. In this work we present a closed-loop visuomotor controller for robotic pruning. The controller guides the cutter through a cluttered tree environment to reach a specified cut point and ensures the cutters are perpendicular to the branch. We train the controller using a novel orchard simulation that captures the geometric distribution of branches in a target apple orchard configuration. Unlike traditional methods requiring full 3D reconstruction, our controller uses just optical flow images from a wrist-mounted camera. We deploy our learned policy in simulation and the real-world for an example V-Trellis envy tree with zero-shot transfer, achieving a 30% success rate - approximately half the performance of an oracle planner . Modern farming techniques have adopted carefully designed tree structures that improve productivity and labor efficiency but must be maintained through detailed dormant tree pruning and training. We focus on one such structure -- Envy apple trees in a V -trellis setting -- where trees are grown in approximately planar rows. The main trunk grows 15 degrees off vertical, and the primary support branches are tied to horizontal wires between posts (see Figure 2).

With histograms as its foundation, we develop Categorical Exploratory Data Analysis (CEDA) under the extreme-$K$ sample problem, and illustrate its universal applicability through four 1D categorical datasets. Given a sizable $K$, CEDA's ultimate goal amounts to discover by data's information content via carrying out two data-driven computational tasks: 1) establish a tree geometry upon $K$ populations as a platform for discovering a wide spectrum of patterns among populations; 2) evaluate each geometric pattern's reliability. In CEDA developments, each population gives rise to a row vector of categories proportions. Upon the data matrix's row-axis, we discuss the pros and cons of Euclidean distance against its weighted version for building a binary clustering tree geometry. The criterion of choice rests on degrees of uniformness in column-blocks framed by this binary clustering tree. Each tree-leaf (population) is then encoded with a binary code sequence, so is tree-based pattern. For evaluating reliability, we adopt row-wise multinomial randomness to generate an ensemble of matrix mimicries, so an ensemble of mimicked binary trees. Reliability of any observed pattern is its recurrence rate within the tree ensemble. A high reliability value means a deterministic pattern. Our four applications of CEDA illuminate four significant aspects of extreme-$K$ sample problems.