Transformer-Based Warm-Starting for Feasible and Optimal Terminal Approach to Tumbling Objects with Space Manipulators
Autonomous capture of a tumbling object with a space manipulator requires trajectory generation under real-time onboard constraints. However, coupled bus-arm dynamics, rotating safety geometry, and visibility requirements make the underlying optimization severely nonconvex, hence expensive to solve and sensitive to initialization. This paper develops a causal-transformer warm-start for the computationally dominant attitude-manipulator stage of a two-stage sequential convex programming (SCP) framework. Across 300 held-out scenarios evaluated on embedded hardware, the learned warm-start reduces the iterations of the second-stage SCP by up to 32% and runtime by 16% while maintaining numerica...
| Authors | Yuji Takubo, Maximilian Adang, Mac Schwager et al. |
|---|---|
| Primary category | cs.RO |
| Published | 15 June 2026 |
| Last updated at source | 18 September 2026 |
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