4 papers
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…
GraspLDM: Generative 6-DoF Grasp Synthesis using Latent Diffusion Models
Kuldeep R Barad, Andrej Orsula, Antoine Richard +3
Vision-based grasping of unknown objects in unstructured environments is a key challenge for autonomous robotic manipulation. A practical grasp synthesis system is required to gene…