Author

Andrej Orsula

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#machine learning Preprint Sep 2026

FALCON-S: Fixed-wing ground-effect Aerodynamics Simulator and Flight Control Learning Suite

A modular, high-fidelity simulation framework for the development and benchmarking of flight control strategies in fixed-wing aerial robots operating near the ground that models full 6DoF rigid-body physics, semi-empirical ground-effect aerodynamics, actuator dynamics, sensor noise, and environmental disturbances.

Matteo El Hariry, Pedro U. Lima, Andrej Orsula et al. · 0 citations

Preprint Aug 2026

Reward-Free Continual Adaptation for Resilient Space Robots

This work introduces a reward-free continual learning framework that leverages latent-state world models that adapts to altered dynamics without receiving new rewards across simulated planetary traversal, orbital navigation, and precision assembly tasks subjected to severe morphological failures.

Andrej Orsula, M. Olivares-Mendez, Carol Martínez · 0 citations

Jul 2026

Learning Adaptive Multi-Task Guidance, Navigation, and Control via Hypernetworks

HYPER-GNC, a multi-task reinforcement learning framework in which a hypernetwork maps physics-informed task embeddings to the weights of a shared actor-critic policy, enabling a single compact controller to master four distinct GNC tasks: velocity tracking, docking, inspection, and navigation with obstacle avoidance.

Ricard M. Castan, Aman Arora, Antoine Richard et al. · arXiv.org · 1 citation