8 papers · 1 filter
Reward-Free Continual Adaptation for Resilient Space Robots
Andrej Orsula, Miguel Olivares-Mendez, Carol Martinez
Space robots operate in extreme environments where hardware degradation can critically compromise traditional control strategies. While continual reinforcement learning offers a pr…
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…
RL-AVIST: Reinforcement Learning for Autonomous Visual Inspection of Space Targets
Matteo El-Hariry, Andrej Orsula, Matthieu Geist +1
The growing need for autonomous on-orbit services such as inspection, maintenance, and situational awareness calls for intelligent spacecraft capable of complex maneuvers around la…
Sim2Dust: Mastering Dynamic Waypoint Tracking on Granular Media
Andrej Orsula, Matthieu Geist, Miguel Olivares-Mendez +1
Reliable autonomous navigation across the unstructured terrains of distant planetary surfaces is a critical enabler for future space exploration. However, the deployment of learnin…
Space Robotics Bench: Robot Learning Beyond Earth
Andrej Orsula, Matthieu Geist, Miguel Olivares-Mendez +1
The growing ambition for space exploration demands robust autonomous systems that can operate in unstructured environments under extreme extraterrestrial conditions. The adoption o…
Learning Tool-Aware Adaptive Compliant Control for Autonomous Regolith Excavation
Andrej Orsula, Matthieu Geist, Miguel Olivares-Mendez +1
Autonomous regolith excavation is a cornerstone of in-situ resource utilization for a sustained human presence beyond Earth. However, this task is fundamentally hindered by the com…