5 papers · 1 filter
PINGU: Extending Air-Bearing Spacecraft Emulators with Open-Source Actuators and Learned Control for Contact-Rich Proximity Operations
Ricard Marsal I Castan, Akiyoshi Uchida, Aman Arora +7
Low-cost planar air-bearing testbeds have matured into a standard proxy for free-flying spacecraft GNC, but they remain largely thruster-only and are rarely equipped for contact-ri…
SCoCaT: Success Conditioned Constrained Reinforcement Learning for Spacecraft Docking
Aman Arora, Ricard Marsal I Castan, Matteo El-Hariry +1
Termination-based constrained reinforcement learning is attractive for safety-critical robotic deployments: it avoids online optimization at inference, scales easily to many constr…
Privileged Critic Training Enables Sensor-Free Thruster Fault Adaptation in End-to-End RL
Ricard Marsal I Castan, Miguel A. Olivares-Méndez
Fault-tolerant navigation for thruster-actuated robots requires online adaptation to failures that are neither binary nor fully observable: thrusters may degrade continuously, fail…
Learning Adaptive Multi-Task Guidance, Navigation, and Control via Hypernetworks
Ricard Marsal I Castan, Aman Arora, Antoine Richard +3
Autonomous free-flying robots in orbital environments require controllers that are both versatile and resource-efficient, yet maintaining a separate, task-specific policy for each…
RoboRAN: A Unified Robotics Framework for Reinforcement Learning-Based Autonomous Navigation
Matteo El-Hariry, Antoine Richard, Ricard M. Castan +4
Autonomous robots must navigate and operate in diverse environments, from terrestrial and aquatic settings to aerial and space domains. While Reinforcement Learning (RL) has shown…