Simulation Based Reward Function Validation for Multi-Agent On Orbit Inspection

A proposed method for the control of groups of inspection spacecraft is Multi-Agent Reinforcement Learning (MARL). While MARL has already been employed for this purpose in previous work, the reward functions used focus on reaching a finite set of predetermined inspection points around the target. In this work, we study and develop a generalized reward function for the MARL inspection task informed by the analysis of 3D reconstructions of inspected objects in orbit. Because the reward function is generalized such that any number of images at arbitrary locations may evaluated, we also allow trained agents to have complete control over when images are collected. With this approach, we gather insights into best practices for not only the specific MARL inspection task, but also gain key takeaways informative to the broader inspection task outside of a MARL context.

Dynamic Scene 3D Reconstruction of an Uncooperative Resident Space Object

Characterization of uncooperative Resident Space Objects (RSO) play a crucial role in On-Orbit Servicing (OOS) and Active Debris Removal (ADR) missions to assess the geometry and motion properties. To address the challenges of reconstructing tumbling uncooperative targets, this study evaluates the performance of existing state-of-the-art 3D reconstruction algorithms for dynamic scenes, focusing on their ability to generate geometrically accurate models with high-fidelity. To support our evaluation, we developed a simulation environment using Isaac Sim to generate physics-accurate 2D image sequences of tumbling satellite under realistic orbital lighting conditions. Our preliminary results on static scenes using Neuralangelo demonstrate promising reconstruction quality. The generated 3D meshes closely match the original CAD models with minimal errors and artifacts when compared using Cloud Compare (CC). The reconstructed models were able to capture critical fine details for mission planning. This provides a baseline for our ongoing evaluation of dynamic scene reconstruction.

AgentMisalignment: Measuring the Propensity for Misaligned Behaviour in LLM-Based Agents

As Large Language Model (LLM) agents become more widespread, associated misalignment risks increase. Prior work has examined agents' ability to enact misaligned behaviour (misalignment capability) and their compliance with harmful instructions (misuse propensity). However, the likelihood of agents attempting misaligned behaviours in real-world settings (misalignment propensity) remains poorly understood. We introduce a misalignment propensity benchmark, AgentMisalignment, consisting of a suite of realistic scenarios in which LLM agents have the opportunity to display misaligned behaviour. We organise our evaluations into subcategories of misaligned behaviours, including goal-guarding, resisting shutdown, sandbagging, and power-seeking. We report the performance of frontier models on our benchmark, observing higher misalignment on average when evaluating more capable models. Finally, we systematically vary agent personalities through different system prompts. We find that persona characteristics can dramatically and unpredictably influence misalignment tendencies -- occasionally far more than the choice of model itself -- highlighting the importance of careful system prompt engineering for deployed AI agents. Our work highlights the failure of current alignment methods to generalise to LLM agents, and underscores the need for further propensity evaluations as autonomous systems become more prevalent.

End-to-End Imitation Learning for Optimal Asteroid Proximity Operations

Controlling spacecraft near asteroids in deep space comes with many challenges. The delays involved necessitate heavy usage of limited onboard computation resources while fuel efficiency remains a priority to support the long loiter times needed for gathering data. Additionally, the difficulty of state determination due to the lack of traditional reference systems requires a guidance, navigation, and control (GNC) pipeline that ideally is both computationally and fuel-efficient, and that incorporates a robust state determination system. In this paper, we propose an end-to-end algorithm utilizing neural networks to generate near-optimal control commands from raw sensor data, as well as a hybrid model predictive control (MPC) guided imitation learning controller delivering improvements in computational efficiency over a traditional MPC controller.