3 papers
cs.RO2025
Autonomous Reinforcement Learning Robot Control with Intel's Loihi 2 Neuromorphic Hardware
Kenneth Stewart, Roxana Leontie, Samantha Chapin +3
We present an end-to-end pipeline for deploying reinforcement learning (RL) trained Artificial Neural Networks (ANNs) on neuromorphic hardware by converting them into spiking Sigma…
cs.RO2025
Crossing the Sim2Real Gap Between Simulation and Ground Testing to Space Deployment of Autonomous Free-flyer Control
Kenneth Stewart, Samantha Chapin, Roxana Leontie +1
Reinforcement learning (RL) offers transformative potential for robotic control in space. We present the first on-orbit demonstration of RL-based autonomous control of a free-flyin…
cs.RO2025
Autonomous Planning In-space Assembly Reinforcement-learning free-flYer (APIARY) International Space Station Astrobee Testing
Samantha Chapin, Kenneth Stewart, Roxana Leontie +1
The US Naval Research Laboratory's (NRL's) Autonomous Planning In-space Assembly Reinforcement-learning free-flYer (APIARY) experiment pioneers the use of reinforcement learning (R…