Related papers: Global Search for Optimal Low Thrust Spacecraft Tr…

Generative models have emerged as powerful tools for planning, with compositional approaches offering particular promise for modeling long-horizon task distributions by composing together local, modular generative models. This compositional…

In recent years, diffusion models have become the most popular and powerful methods in the field of image synthesis, even rivaling human artists in artistic creativity. However, the key issue currently limiting the application of diffusion…

As low-thrust space missions increase in prevalence, it is becoming increasingly important to design robust trajectories against unforeseen thruster outages or missed thrust events. Accounting for such events is particularly important in…

Compositional diffusion models offer a promising route to long-horizon planning by denoising multiple overlapping sub-trajectories while ensuring that together they constitute a global solution. However, enforcing local behavior over long…

Effective trajectory generation is essential for reliable on-board spacecraft autonomy. Among other approaches, learning-based warm-starting represents an appealing paradigm for solving the trajectory generation problem, effectively…

Diffusion models have shown promising generative capabilities across diverse domains, yet aligning their outputs with desired reward functions remains a challenge, particularly in cases where reward functions are non-differentiable. Some…

Diffusion models have shown strong competitiveness in offline reinforcement learning tasks by formulating decision-making as sequential generation. However, the practicality of these methods is limited due to the lengthy inference processes…

Solving statistical learning problems often involves nonconvex optimization. Despite the empirical success of nonconvex statistical optimization methods, their global dynamics, especially convergence to the desirable local minima, remain…

Diffusion models offer stable training and state-of-the-art performance for deep generative modeling tasks. Here, we consider their use in the context of multivariate subsurface modeling and probabilistic inversion. We first demonstrate…

Recent low-thrust space missions have highlighted the importance of designing trajectories that are robust against uncertainties. In its complete form, this process is formulated as a nonlinear constrained stochastic optimal control…

This paper proposes a systematic method for generating practical and robust low-thrust spacecraft trajectories. One contribution is to consider the change in mass of the spacecraft at two levels: a) the propulsive acceleration and b) the…

Spacecraft operations are influenced by uncertainties such as dynamics modeling, navigation, and maneuver execution errors. Although mission design has traditionally incorporated heuristic safety margins to mitigate the effect of…

Finding global optima in high-dimensional optimization problems is extremely challenging since the number of function evaluations required to sufficiently explore the search space increases exponentially with its dimensionality.…

Low-thrust trajectories play a crucial role in optimizing scientific output and cost efficiency in asteroid belt missions. Unlike high-thrust transfers, low-thrust trajectories require solving complex optimal control problems. This…

Training robots in simulation requires diverse 3D scenes that reflect the specific challenges of downstream tasks. However, scenes that satisfy strict task requirements, such as high-clutter environments with plausible spatial arrangement,…

The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios,…

The rapid expansion of mega-constellations in low Earth orbits has posed significant challenges to space traffic management, necessitating periodic inspections of satellites to ensure the sustainability of the space environment when…

Multi-fingered hands are emerging as powerful platforms for performing fine manipulation tasks, including tool use. However, environmental perturbations or execution errors can impede task performance, motivating the use of recovery…

Building upon our earlier work of a martingale approach to global optimization, a powerful stochastic search scheme for the global optimum of cost functions is proposed on the basis of change of measures on the states that evolve as…

The commercial interest in producing low-cost space missions by exploiting the superior propellant management of low-thrust propulsion technology has become increasingly popular. Typical to such missions is the design of transfer…