LATIDIA · Robótica

DreamSat-Bench: Desarrollo y pruebas iniciales de un banco de pruebas para la estimación de pose basada en IA a partir de la reconstrucción 3D

arXiv: 2609.14183v1Tipo de anuncio: nuevo Resumen: Este documento presenta el desarrollo y las pruebas iniciales de DreamSat-Bench, un banco de pruebas modular de encuentro y operación de proximidad diseñado para comparar la navegación relativa basada en IA

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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