Foundation Models for Autonomous Space Robotics: Architectures, Physical Adaptation, and Validation

Abstract:Space robots must interpret tasks and act despite unfamiliar dynamics, difficult sensing conditions, and limited opportunities for human intervention. Foundation models offer reusable perceptual and behavioral knowledge, but their value depends on how that knowledge reaches physical execution. This critical review follows space-specific requirements through perception, prediction, planning, and action to deployment and validation, emphasizing orbital manipulation and proximity operations. Terrestrial comparisons establish benefits of particular pretraining stages and model interfaces; their transfer to space dynamics and constrained onboard operation remains insufficiently tested. Event cameras offer timely motion observations across strong illumination contrasts, while spiking neural networks provide possible routes to sparse local computation. We examine how sensor degradation, state estimation and computing choices affect feedback and recovery. Higher action throughput need not yield fresher feedback; lower processor power can also coexist with higher energy per inference. We organize validation as an iterative sim-to-ground-to-space pathway, connecting physical tests with telemetry-based diagnosis and closed-loop revalidation. A satellite-capture example links observations to approach, contact and recovery, while a corresponding protocol separates generalization from adaptation with limited target-domain interaction. These comparisons identify what models already contribute and the physical evidence needed to support autonomous space operation.

23 pages, 7 figures. Critical review. Ancillary files include source inventory and evidence documentation

Robotics (cs.RO)

arXiv:2610.23068 [cs.RO]

(or arXiv:2610.23068v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.23068 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

evidence_matrix.json

figure1_illustration_provenance.json

retrieval_audit.json

source_inventory.json

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