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cs.RO2026
Phase-Gated Constrained Reinforcement Learning for End-to-End Capture and Detumbling of Non-Cooperative Targets
Álvaro Belmonte-Baeza, Celia Redondo-Verdú, José L. Ramón +3
Active debris removal requires a servicer spacecraft to approach a non-cooperative tumbling object, capture it, and arrest its rotation. This sequence is conventionally divided amo…
cs.RO2026
Cortical Policy: A Dual-Stream View Transformer for Robotic Manipulation
Xuening Zhang, Qi Lv, Xiang Deng +3
View transformers process multi-view observations to predict actions and have shown impressive performance in robotic manipulation. Existing methods typically extract static visual…