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DreamSat-Bench establishes a critical hardware-in-the-loop testbed for validating generative AI and foundation models in autonomous spacecraft navigation. By unifying simulation tools like MuJoCo with physical robotic arms, the platform rigorously quantifies the simulation-to-reality gap specifically for 3D reconstruction and zero-shot pose estimation tasks. This infrastructure directly advances the reliability of AI-driven relative navigation for rendezvous and proximity operations in complex orbital environments.
DreamSat-Bench: Development and Initial Testing of a Testbed for AI-Based Pose Estimation from 3D Reconstruction
arXiv:2609.14183v1 Announce Type: new Abstract: This paper presents the development and initial testing of DreamSat-Bench, a modular rendezvous and proximity operation testbed designed to benchmark AI-based relative navigation techniques. By integrating a software- and hardware-in-the-loop robotic pipeline, the platform enables a seamless transition from digital simulation to physical reality. DreamSat-Bench unifies state-of-the-art robotic learning tools such as MuJoCo, Isaac Lab, and LeRobot into a single benchmarking platform, utilizing robotic arms to trace 3D trajectories. The platform allows for extensive customization of orbital environments and lighting to evaluate the simulation-to-reality gap. We demonstrate the testbed's utility by evaluating an end-to-end vision-based navigation pipeline that pairs DreamSat, a generative AI framework for single-view 3D reconstruction, with FoundationPose for zero-shot 6-DoF tracking of unseen spacecraft. Initial testing explores mission-representative orbital segments, including fixed-point station-keeping and fly-around characterization. Through a series of parametric studies, we quantify the impacts of reconstruction latency, mesh resolution, orbital range, and illumination geometry on pose estimation accuracy. Finally, a preliminary hardware-in-the-loop campaign qualitatively validates the physical deployment of the pipeline, identifying target symmetry and accumulated tracking drift as critical factors for robust navigation. DreamSat-Bench provides a rigorous framework for maturing autonomous navigation with unprepared space assets in the absence of prior geometric models.
Authors:Alex Posadas-Nava, August Berne, Giovanni Lavezzi, Kareena Shah, Alejandro Carrasco, Josiane Uwumukiza, Giacomo Battaglia, Paolo Panicucci, Minduli C. Wijayatunga, Victor Rodriguez-Fernandez, Richard Linares
Abstract:This paper presents the development and initial testing of DreamSat-Bench, a modular rendezvous and proximity operation testbed designed to benchmark AI-based relative navigation techniques. By integrating a software- and hardware-in-the-loop robotic pipeline, the platform enables a seamless transition from digital simulation to physical reality. DreamSat-Bench unifies state-of-the-art robotic learning tools such as MuJoCo, Isaac Lab, and LeRobot into a single benchmarking platform, utilizing robotic arms to trace 3D trajectories. The platform allows for extensive customization of orbital environments and lighting to evaluate the simulation-to-reality gap. We demonstrate the testbed's utility by evaluating an end-to-end vision-based navigation pipeline that pairs DreamSat, a generative AI framework for single-view 3D reconstruction, with FoundationPose for zero-shot 6-DoF tracking of unseen spacecraft. Initial testing explores mission-representative orbital segments, including fixed-point station-keeping and fly-around characterization. Through a series of parametric studies, we quantify the impacts of reconstruction latency, mesh resolution, orbital range, and illumination geometry on pose estimation accuracy. Finally, a preliminary hardware-in-the-loop campaign qualitatively validates the physical deployment of the pipeline, identifying target symmetry and accumulated tracking drift as critical factors for robust navigation. DreamSat-Bench provides a rigorous framework for maturing autonomous navigation with unprepared space assets in the absence of prior geometric models.
Robotics (cs.RO)
arXiv:2609.14183 [cs.RO]
(or arXiv:2609.14183v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.14183 arXiv-issued DOI via DataCite (pending registration)
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