{"id":"https://openalex.org/W7140097863","doi":"https://doi.org/10.1109/isparo66239.2025.11436258","title":"Adaptive Science Operations in Deep Space Missions Using Offline Belief State Planning","display_name":"Adaptive Science Operations in Deep Space Missions Using Offline Belief State Planning","publication_year":2025,"publication_date":"2025-12-01","ids":{"openalex":"https://openalex.org/W7140097863","doi":"https://doi.org/10.1109/isparo66239.2025.11436258"},"language":"en","primary_location":{"id":"doi:10.1109/isparo66239.2025.11436258","doi":"https://doi.org/10.1109/isparo66239.2025.11436258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isparo66239.2025.11436258","pdf_url":null,"source":{"id":"https://openalex.org/S7407097202","display_name":"International Conference on Space Robotics (iSpaRo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Conference on Space Robotics (iSpaRo)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2510.08812","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5144015945","display_name":"Grace Ra Kim","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Grace Ra Kim","raw_affiliation_strings":["Stanford University,Department of Aeronautics and Astronautics,Stanford,CA,USA,94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Aeronautics and Astronautics,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111236581","display_name":"Hailey Warner","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hailey Warner","raw_affiliation_strings":["Stanford University,Department of Aeronautics and Astronautics,Stanford,CA,USA,94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Aeronautics and Astronautics,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077282337","display_name":"Duncan Eddy","orcid":"https://orcid.org/0009-0000-2832-9711","observed_orcids":["https://orcid.org/0009-0000-2832-9711"]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Duncan Eddy","raw_affiliation_strings":["Stanford University,Department of Aeronautics and Astronautics,Stanford,CA,USA,94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Aeronautics and Astronautics,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130364455","display_name":"Evan Astle","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1280536761","display_name":"Ames Research Center","ror":"https://ror.org/02acart68","country_code":"US","type":"facility","lineage":["https://openalex.org/I1280536761","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evan Astle","raw_affiliation_strings":["NASA Ames Research Center,Intelligent Systems Division,Moffett Field,CA,USA,94035"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Ames Research Center,Intelligent Systems Division,Moffett Field,CA,USA,94035","institution_ids":["https://openalex.org/I1280536761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130351936","display_name":"Zachary Booth","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1280536761","display_name":"Ames Research Center","ror":"https://ror.org/02acart68","country_code":"US","type":"facility","lineage":["https://openalex.org/I1280536761","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary Booth","raw_affiliation_strings":["NASA Ames Research Center,Intelligent Systems Division,Moffett Field,CA,USA,94035"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Ames Research Center,Intelligent Systems Division,Moffett Field,CA,USA,94035","institution_ids":["https://openalex.org/I1280536761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063925086","display_name":"Edward Balaban","orcid":"https://orcid.org/0009-0000-1052-6215","observed_orcids":["https://orcid.org/0009-0000-1052-6215"]},"institutions":[{"id":"https://openalex.org/I1280536761","display_name":"Ames Research Center","ror":"https://ror.org/02acart68","country_code":"US","type":"facility","lineage":["https://openalex.org/I1280536761","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Edward Balaban","raw_affiliation_strings":["NASA Ames Research Center,Intelligent Systems Division,Moffett Field,CA,USA,94035"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Ames Research Center,Intelligent Systems Division,Moffett Field,CA,USA,94035","institution_ids":["https://openalex.org/I1280536761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068326377","display_name":"Mykel J. Kochenderfer","orcid":"https://orcid.org/0000-0002-7238-9663","observed_orcids":["https://orcid.org/0000-0002-7238-9663"]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mykel J. Kochenderfer","raw_affiliation_strings":["Stanford University,Department of Aeronautics and Astronautics,Stanford,CA,USA,94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Aeronautics and Astronautics,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.58996643,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"307","last_page":"313"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.836899995803833,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.836899995803833,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.05009999871253967,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.02290000021457672,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/deep-space-missions","display_name":"deep space missions","score":0.8429999947547913},{"id":"https://openalex.org/keywords/partially-observable-markov-decision-processes","display_name":"partially observable Markov decision processes","score":0.828000009059906},{"id":"https://openalex.org/keywords/offline-planning","display_name":"offline planning","score":0.6399999856948853},{"id":"https://openalex.org/keywords/bayesian-networks","display_name":"Bayesian networks","score":0.6990000009536743},{"id":"https://openalex.org/keywords/communication-delay","display_name":"communication delay","score":0.6869999766349792},{"id":"https://openalex.org/keywords/astrobiology","display_name":"astrobiology","score":0.8289999961853027},{"id":"https://openalex.org/keywords/reward-shaping","display_name":"reward shaping","score":0.7990000247955322},{"id":"https://openalex.org/keywords/sample-classification","display_name":"sample classification","score":0.4819999933242798},{"id":"https://openalex.org/keywords/concept-of-operations","display_name":"concept of operations","score":0.6449999809265137}],"concepts":[{"id":"https://openalex.org/C187107819","wikidata":"https://www.wikidata.org/wiki/Q835696","display_name":"NASA Deep Space Network","level":3,"score":0.6758999824523926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5626000165939331},{"id":"https://openalex.org/C61776360","wikidata":"https://www.wikidata.org/wiki/Q5250441","display_name":"Deep space exploration","level":4,"score":0.5605999827384949},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4999000132083893},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.48669999837875366},{"id":"https://openalex.org/C104060986","wikidata":"https://www.wikidata.org/wiki/Q180046","display_name":"Space exploration","level":2,"score":0.43639999628067017},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3971000015735626},{"id":"https://openalex.org/C97385483","wikidata":"https://www.wikidata.org/wiki/Q16954980","display_name":"Deep belief network","level":3,"score":0.39480000734329224},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.33219999074935913},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.319599986076355},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.31439998745918274},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2897000014781952},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.2768000066280365},{"id":"https://openalex.org/C2987528665","wikidata":"https://www.wikidata.org/wiki/Q854845","display_name":"Earth observation satellite","level":3,"score":0.2533000111579895},{"id":"https://openalex.org/C2984842247","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep neural networks","level":3,"score":0.25049999356269836}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/isparo66239.2025.11436258","doi":"https://doi.org/10.1109/isparo66239.2025.11436258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isparo66239.2025.11436258","pdf_url":null,"source":{"id":"https://openalex.org/S7407097202","display_name":"International Conference on Space Robotics (iSpaRo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Conference on Space Robotics (iSpaRo)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2510.08812","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.08812","pdf_url":"https://arxiv.org/pdf/2510.08812","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2510.08812","doi":"https://doi.org/10.48550/arxiv.2510.08812","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2510.08812","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2510.08812","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.08812","pdf_url":"https://arxiv.org/pdf/2510.08812","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W52153049","https://openalex.org/W2099430963","https://openalex.org/W2137160588","https://openalex.org/W2613477288","https://openalex.org/W2756118718","https://openalex.org/W2781907000","https://openalex.org/W3012030044","https://openalex.org/W3196561307","https://openalex.org/W4226023781","https://openalex.org/W4327605575","https://openalex.org/W4385288855","https://openalex.org/W4386896930","https://openalex.org/W4407414642"],"related_works":["https://openalex.org/W7197053045","https://openalex.org/W2767580869","https://openalex.org/W4400322776","https://openalex.org/W2075465588","https://openalex.org/W4409887570","https://openalex.org/W2962759231","https://openalex.org/W2744174391","https://openalex.org/W7095368016","https://openalex.org/W4396875778","https://openalex.org/W1561762680"],"abstract_inverted_index":{"Deep":[0],"space":[1,48],"missions":[2],"face":[3],"extreme":[4],"communication":[5],"delays":[6],"and":[7,53,67,71,89,114,136],"environmental":[8],"uncertainty":[9],"that":[10,33],"prevent":[11],"real-time":[12],"ground":[13],"operations.":[14],"To":[15],"support":[16],"autonomous":[17],"science":[18,37,75],"operations":[19],"in":[20,138],"communication-constrained":[21],"environments,":[22],"we":[23],"present":[24],"a":[25,41,106],"partially":[26],"observable":[27],"Markov":[28],"decision":[29],"process":[30],"(POMDP)":[31],"framework":[32],"adaptively":[34],"sequences":[35],"spacecraft":[36],"instruments.":[38],"We":[39,95,120],"integrate":[40],"Bayesian":[42,111],"network":[43,61,112],"into":[44],"the":[45,51,69,97,125],"POMDP":[46],"observation":[47],"to":[49,86,93],"manage":[50],"high-dimensional":[52],"uncertain":[54],"measurements":[55,66],"typical":[56],"of":[57,74,129],"astrobiology":[58],"missions.":[59],"This":[60],"compactly":[62],"encodes":[63],"dependencies":[64],"among":[65],"improves":[68],"interpretability":[70],"computational":[72],"tractability":[73],"data.":[76],"Instrument":[77],"operation":[78],"policies":[79],"are":[80],"computed":[81],"offline,":[82],"allowing":[83],"resource-aware":[84],"plans":[85],"be":[87],"generated":[88],"thoroughly":[90],"validated":[91],"prior":[92],"launch.":[94],"use":[96],"Enceladus":[98],"Orbilander\u2019s":[99],"proposed":[100],"Life":[101],"Detection":[102],"Suite":[103],"(LDS)":[104],"as":[105],"case":[107],"study,":[108],"demonstrating":[109],"how":[110],"structure":[113],"reward":[115],"shaping":[116],"influence":[117],"system":[118],"performance.":[119],"compare":[121],"our":[122],"method":[123],"against":[124],"mission\u2019s":[126],"baseline":[127],"Concept":[128],"Operations":[130],"(ConOps),":[131],"evaluating":[132],"both":[133],"misclassification":[134],"rates":[135],"performance":[137],"off-nominal":[139],"sample":[140,146],"accumulation":[141],"scenarios.":[142],"Our":[143],"approach":[144],"reduces":[145],"identification":[147],"errors":[148],"by":[149],"nearly":[150],"$40":[151],"\\%$.":[152]},"counts_by_year":[],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2026-03-24T00:00:00"}