Presents initial design and first prototypes of robotic optical-relay positioners addressing ELT-scale challenges of relay optics, pupil pointing, and per-positioner ADCs for the MOSAIC instrument.
Goal-Conditioned Decision Transformer for Multi-Goal Offline Reinforcement Learning
3 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
abstract
Reinforcement learning (RL) in robotics faces significant hurdles regarding sample efficiency and generalization across varying goals. While Offline RL mitigates the need for costly online interactions, its integration with goal-conditioned policies and transformer-based architectures remains underexplored. We introduce a Goal-Conditioned Decision Transformer adapted for offline multi-goal robotics. By explicitly incorporating goal states into the sequence modeling framework, our approach efficiently solves varying tasks using only pre-collected data. We validate this method on a newly released offline dataset for the Franka Emika Panda platform. Experimental results demonstrate that our approach outperforms state-of-the-art online baselines in complex tasks and maintains robustness in sparse-reward settings, even with limited expert demonstrations.
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astro-ph.IM 3years
2026 3verdicts
UNVERDICTED 3representative citing papers
A focal plate prototype for Stage-5 telescope instruments shows that 5-axes machining can achieve the required tilt and focus tolerances.
Thermal qualification tests on 6.2-mm-pitch fiber positioners confirm stable repeatability, backlash, and linearity across -20°C to 30°C with no degradation.
citing papers explorer
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MOSAIC at ELT: Design and First Prototyping of Novel Robotic Optical-Relay Positioners
Presents initial design and first prototypes of robotic optical-relay positioners addressing ELT-scale challenges of relay optics, pupil pointing, and per-positioner ADCs for the MOSAIC instrument.
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Focal Plate Prototyping for Modular Focal Planes of Stage-5 Instruments For Ground-Based Telescopes
A focal plate prototype for Stage-5 telescope instruments shows that 5-axes machining can achieve the required tilt and focus tolerances.
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Thermal Characterization of a 6-Positioner, 6.2-mm-Pitch Module for Stage-5 Telescopes
Thermal qualification tests on 6.2-mm-pitch fiber positioners confirm stable repeatability, backlash, and linearity across -20°C to 30°C with no degradation.