4 papers
L-SDPPO: Policy Optimization of Spiking Diffusion Policy for Intra-vehicular Robotic Manipulation
Liwen Zhang, Dong Zhou, Guanghui Sun +4
Intra-vehicular robots in spacecraft help reduce astronaut workload and improve mission efficiency. Recent research focuses on using deep learning methods to achieve the acute cont…
Imitation learning-based spacecraft rendezvous and docking method with Expert Demonstration
Shibo Shao, Dong Zhou, Guanghui Sun +2
Existing spacecraft rendezvous and docking control methods largely rely on predefined dynamic models and often exhibit limited robustness in realistic on-orbit environments. To add…
Fully Spiking Actor-Critic Neural Network for Robotic Manipulation
Liwen Zhang, Heng Deng, Guanghui Sun
This study proposes a hybrid curriculum reinforcement learning (CRL) framework based on a fully spiking neural network (SNN) for 9-degree-of-freedom robotic arms performing target…
Multimodal Spiking Neural Network for Space Robotic Manipulation
Liwen Zhang, Dong Zhou, Shibo Shao +2
This paper presents a multimodal control framework based on spiking neural networks (SNNs) for robotic arms aboard space stations. It is designed to cope with the constraints of li…