Author

Antoine Richard

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Preprint Sep 2026

PINGU: Extending Air-Bearing Spacecraft Emulators with Open-Source Actuators and Learned Control for Contact-Rich Proximity Operations

This work contributes a reaction wheel and two force/torque-sensed robotic arms with interchangeable end-effectors, integrated as first-class control actuators through a unified ROS 2 abstraction layer, and builds a reinforcement-learning training environment and digital twin and a controller that exploits these added...

Ricard M. Castan, Akiyoshi Uchida, Aman Arora et al. · 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