3 papers
cs.RO2026
Training-Free Imitation Learning with Closed-Form Diffusion Policies
Raghav Mishra, Ian R. Manchester
While diffusion-based policies have impressive performance and expressivity, their long offline training slows down the data collection and policy deployment loop. We introduce Clo…
cs.RO2026
EB-MBD: Emerging-Barrier Model-Based Diffusion for Safe Trajectory Optimization in Highly Constrained Environments
Raghav Mishra, Ian R. Manchester
We propose enforcing constraints on Model-Based Diffusion by introducing emerging barrier functions inspired by interior point methods. We demonstrate that the standard Model-Based…
cs.RO2025
dLITE: Differentiable Lighting-Informed Trajectory Evaluation for On-Orbit Inspection
Jack Naylor, Raghav Mishra, Nicholas H. Barbara +1
Visual inspection of space-borne assets is of increasing interest to spacecraft operators looking to plan maintenance, characterise damage, and extend the life of high-value satell…