Transformer-Based Warm-Starting for Feasible and Optimal Terminal Approach to Tumbling Objects with Space Manipulators

arXiv:2606.17317 · cs.RO, cs.AI, math.OC · Submitted 2026-06-15 · Read on arXiv

cs.RO, cs.AI, math.OC

Submitted: 2026-06-15

Updated: 2026-09-18

Comments: 8 pages, 4 figures. Accepted to the IEEE International Conference on Space Robotics (iSpaRo) 2026, Cologne, Germany

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Flow Matching — 20× in this paper · explained in 8 episodes
• Transformer — 17× in this paper · explained in 2 episodes
• Action Chunking — 6× in this paper · explained in 1 episode
• Sample Efficiency — 5× in this paper · explained in 4 episodes
• Action Decoder — 4× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Steering — 2× in this paper · explained in 2 episodes
• Temporal consistency — 2× in this paper · explained in 2 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Activation Function — 1× in this paper · explained in 1 episode
• American Control Conference — 1× in this paper
• Clustering — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Flow Matching Model — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Multimodal Inputs — 1× in this paper · explained in 2 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Tokenization — 1× in this paper · explained in 2 episodes

Sources

• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
• Flow Matching for Generative Modeling

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving