Research

Publications, grouped by research area.

Hierarchical Offline Planning for Autonomous Enceladus Orbital Operations

G. R. Kim, E. Astle, Z. Booth, D. Eddy, A. F. Davila, K. H. Wray, E. Balaban, M. J. Kochenderfer

In review, American Control Conference (ACC) 2027

Spacecraft autonomyDeep space missionsPOMDPs

arXiv DOI Presentation

Scalable LEO Conjunction Screening using Adaptive Synthetic-Covariance Thresholds

V. Srinivas, G. R. Kim, D. Eddy, M. J. Kochenderfer

In review, IEEE Aerospace Conference 2027

Spacecraft collision avoidance

@misc{srinivas2026scalable,
  title         = {Scalable LEO Conjunction Screening using Adaptive Synthetic-Covariance Thresholds},
  author        = {Srinivas, Vedant and Kim, Grace Ra and Eddy, Duncan and Kochenderfer, Mykel J.},
  year          = {2026},
  eprint        = {2610.11645},
  archivePrefix = {arXiv}
}

FLyCubes: Federated Learning on Cube Satellites

L. Powell, G. Kim, F. Svoboda, N. Lane

In review, IEEE Aerospace Conference 2027

Federated learning in space

arXiv DOI Presentation
Autonomous Federated Learning in LEO Satellite Constellations

G. Kim, L. Powell, F. Svoboda, N. Lane

In review, IEEE Aerospace Conference 2027

Federated learning in space

arXiv DOI Presentation

Governing Orbits: Collision Prevention and Liability in the Age of Autonomous Space Operations

C. Wang Chenxi, S. Eigbe, K. Hoshino-Macdonald, G. R. Kim, L. Kim, et al.

Stanford Law School, Law & Policy Lab report, 2026

Space policy

Presentation Report PDF

@techreport{wangchenxi2026governing,
  title       = {Governing Orbits: Collision Prevention and Liability in the Age of Autonomous Space Operations},
  author      = {Wang Chenxi, Cody and Eigbe, Somi and Hoshino-Macdonald, Kazumi and Kim, Grace R. and Kim, Laurel and Kriezis, Argyris and Montgomery, Paulina and Nicolai, Emma and Rasmussen, Vale and Rogowski, Matt and Jensen, Erik and Mistree, Dinsha},
  institution = {Stanford Law School, Law and Policy Lab},
  year        = {2026},
  url         = {https://law.stanford.edu/publications/governing-orbits-collision-prevention-and-liability-in-the-age-of-autonomous-space-operations/}
}

GPU-Accelerated Astrodynamics World Models for Spacecraft Rendezvous and Proximity Operations

D. Eddy, I. R. Ward, G. R. Kim, M. J. Kochenderfer

Advanced Maui Optical and Space Surveillance Technologies Conference (AMOS), 2026

Spacecraft autonomy

arXiv DOI Presentation

@inproceedings{eddy2026gpu,
  title     = {GPU-Accelerated Astrodynamics World Models for Spacecraft Rendezvous and Proximity Operations},
  author    = {Eddy, Duncan and Ward, Isaac R. and Kim, Grace Ra and Kochenderfer, Mykel J.},
  booktitle = {Advanced Maui Optical and Space Surveillance Technologies Conference (AMOS)},
  year      = {2026},
  eprint    = {2609.03067},
  archivePrefix = {arXiv}
}

Semi-Decentralized Multi-Spacecraft Collision Avoidance under Communication Constraints

G. R. Kim, M. Al-Husseini, D. Eddy, M. J. Kochenderfer

AAS/AIAA Astrodynamics Specialist Conference (ASC), 2026

POMDPsSpacecraft autonomySpacecraft collision avoidance

arXiv DOI Presentation

@inproceedings{kim2026semidecentralized,
  title     = {Semi-Decentralized Multi-Spacecraft Collision Avoidance under Communication Constraints},
  author    = {Kim, Grace Ra and Al-Husseini, Mahdi and Eddy, Duncan and Kochenderfer, Mykel J.},
  booktitle = {AAS/AIAA Astrodynamics Specialist Conference},
  year      = {2026}
}

Chance-Constrained Belief-Space Maneuver Planning for Autonomous Collision Avoidance Under Uncertainty

G. R. Kim, D. Eddy, M. J. Kochenderfer

Advanced Maui Optical and Space Surveillance Technologies Conference (AMOS), 2026

POMDPsSpacecraft autonomySpacecraft collision avoidance

arXiv DOI Presentation

@inproceedings{kim2026chanceconstrained,
  title     = {Chance-Constrained Belief-Space Maneuver Planning for Autonomous Collision Avoidance Under Uncertainty},
  author    = {Kim, Grace Ra and Eddy, Duncan and Kochenderfer, Mykel J.},
  booktitle = {Advanced Maui Optical and Space Surveillance Technologies Conference (AMOS)},
  year      = {2026}
}

Free-Placement Optimization of Ground Station Locations for Low-Earth Orbit Satellites

G. R. Kim, D. Eddy, V. Srinivas, M. J. Kochenderfer

Journal of Aerospace Information Systems (JAIS), 2026

Ground station networks

arXiv DOI Presentation

@article{kim2026freeplacement,
  title   = {Free-Placement Optimization of Ground Station Locations for Low-Earth-Orbit Satellites},
  author  = {Kim, Grace Ra and Eddy, Duncan and Srinivas, Vedant and Kochenderfer, Mykel J.},
  journal = {Journal of Aerospace Information Systems},
  pages   = {1--20},
  year    = {2026},
  doi     = {10.2514/1.I011804}
}

Bringing Federated Learning to Space

G. R. Kim, F. Svoboda, N. D. Lane

IEEE Aerospace Conference, 2026

Federated learning in space

arXiv DOI Presentation

@inproceedings{kim2026bringing,
  title     = {Bringing Federated Learning to Space},
  author    = {Kim, Grace Ra and Svoboda, Filip and Lane, Nicholas D.},
  booktitle = {IEEE Aerospace Conference},
  pages     = {1--15},
  year      = {2026},
  doi       = {10.1109/AERO66936.2026.11519880}
}

Scalable Ground Station Selection for Large LEO Constellations

G. R. Kim, D. Eddy, V. Srinivas, M. J. Kochenderfer

IEEE Aerospace Conference, 2026

Ground station networks

arXiv DOI Presentation

@inproceedings{kim2026scalable,
  title     = {Scalable Ground Station Selection for Large LEO Constellations},
  author    = {Kim, Grace Ra and Eddy, Duncan and Srinivas, Vedant and Kochenderfer, Mykel J.},
  booktitle = {IEEE Aerospace Conference},
  pages     = {1--13},
  year      = {2026},
  doi       = {10.1109/AERO66936.2026.11519930}
}

The Doctor Will (Still) See You Now: On the Structural Limits of Agentic AI in Healthcare

G. A. Dias, K. Jafari, A. Griffith, C. A. Dias, G. R. Kim, L. Saadeddin, et al.

ACM Conference on Fairness, Accountability, and Transparency (FAccT), 2026

AI evaluation & policy

arXiv DOI Presentation

@inproceedings{dias2026doctor,
  title     = {The Doctor Will (Still) See You Now: On the Structural Limits of Agentic AI in Healthcare},
  author    = {Dias, Gabriel A. and Jafari, Kiana and Griffith, Aidan and Dias, Cristian A. and Kim, Grace Ra and Saadeddin, Lea and others},
  booktitle = {ACM Conference on Fairness, Accountability, and Transparency (FAccT)},
  year      = {2026},
  doi       = {10.1145/3805689.3812224}
}

Adaptive Science Operations in Deep Space Missions Using Offline Belief State Planning

G. R. Kim, H. Warner, D. Eddy, E. Astle, Z. Booth, E. Balaban, M. J. Kochenderfer

International Conference on Space Robotics (iSpaRo), pp. 307–313, 2025

POMDPsSpacecraft autonomyDeep space missions

arXiv DOI Presentation

@inproceedings{kim2025adaptive,
  title     = {Adaptive Science Operations in Deep Space Missions Using Offline Belief State Planning},
  author    = {Kim, Grace Ra and Warner, Hailey and Eddy, Duncan and Astle, Evan and Booth, Zachary and Balaban, Edward and Kochenderfer, Mykel J.},
  booktitle = {International Conference on Space Robotics (iSpaRo)},
  pages     = {307--313},
  year      = {2025},
  doi       = {10.1109/iSpaRo66239.2025.11436258}
}

Who Takes Out the Trash in Space?

G. R. Kim, L. Kim

Stanford Space Law Society, SLS Blogs, 2025

Space policy

Presentation Blog post

@misc{kim2025trash,
  title        = {Who Takes Out the Trash in Space?},
  author       = {Kim, Grace and Kim, Laurel},
  howpublished = {Stanford Space Law Society, SLS Blogs},
  year         = {2025},
  month        = aug,
  url          = {https://law.stanford.edu/2025/08/22/who-takes-out-the-trash-in-space/}
}

Communication-Efficient Learning for Satellite Constellations

R. S. Tudose, M. H. W. Grüss, G. R. Kim, K. H. Johansson, N. Bastianello

IFAC World Congress, 2025

Federated learning in space

arXiv DOI Presentation

@inproceedings{tudose2025communication,
  title     = {Communication-Efficient Learning for Satellite Constellations},
  author    = {Tudose, Radu S. and Gr{\"u}ss, Maximilian H. W. and Kim, Grace Ra and Johansson, Karl H. and Bastianello, Nicola},
  booktitle = {IFAC World Congress},
  year      = {2025}
}

The measurement imbalance in agentic AI evaluation undermines industry productivity claims

K. J. Meimandi, G. Aránguiz-Dias, G. R. Kim, L. Saadeddin, A. Griffith, et al.

arXiv preprint, 2025

AI evaluation & policy

arXiv Presentation

@article{meimandi2025measurement,
  title   = {The Measurement Imbalance in Agentic AI Evaluation Undermines Industry Productivity Claims},
  author  = {Meimandi, Kiana J. and Ar{\'a}nguiz-Dias, Gabriel and Kim, Grace Ra and Saadeddin, Lea and Griffith, Aidan and others},
  journal = {arXiv preprint arXiv:2506.02064},
  year    = {2025}
}

Space for Improvement: Navigating the Design Space for Federated Learning in Satellite Constellations

G. Kim, L. Powell, F. Svoboda, N. Lane

arXiv preprint, 2024

Federated learning in space

arXiv Presentation

@article{kim2024space,
  title   = {Space for Improvement: Navigating the Design Space for Federated Learning in Satellite Constellations},
  author  = {Kim, Grace and Powell, Luke and Svoboda, Filip and Lane, Nicholas},
  journal = {arXiv preprint arXiv:2411.00263},
  year    = {2024}
}

Controlling palm-object interactions via friction for enhanced in-hand manipulation

C. B. Teeple, B. Aktaš, M. C. Yuen, G. R. Kim, R. D. Howe, R. J. Wood

IEEE Robotics and Automation Letters (RA-L), 7(2), 2258–2265, 2022

Robotics

DOI Presentation

@article{teeple2022controlling,
  title   = {Controlling Palm-Object Interactions via Friction for Enhanced In-Hand Manipulation},
  author  = {Teeple, Clark B. and Akta{\c{s}}, Buse and Yuen, Michelle C. and Kim, Grace Ra and Howe, Robert D. and Wood, Robert J.},
  journal = {IEEE Robotics and Automation Letters},
  volume  = {7},
  number  = {2},
  pages   = {2258--2265},
  year    = {2022},
  doi     = {10.1109/LRA.2022.3143578}
}

SoMo: Fast and accurate simulations of continuum robots in complex environments

M. A. Graule, C. B. Teeple, T. P. McCarthy, G. R. Kim, R. C. St. Louis, R. J. Wood

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021

Robotics

DOI Presentation

@inproceedings{graule2021somo,
  title     = {SoMo: Fast and Accurate Simulations of Continuum Robots in Complex Environments},
  author    = {Graule, Moritz A. and Teeple, Clark B. and McCarthy, Thomas P. and Kim, Grace Ra and St. Louis, Randall C. and Wood, Robert J.},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year      = {2021},
  doi       = {10.1109/IROS51168.2021.9636059}
}

An active palm enhances dexterity of soft robotic in-hand manipulation

C. B. Teeple, G. R. Kim, M. A. Graule, R. J. Wood

IEEE International Conference on Robotics and Automation (ICRA), 2021

Robotics

DOI Presentation

@inproceedings{teeple2021active,
  title     = {An Active Palm Enhances Dexterity of Soft Robotic In-Hand Manipulation},
  author    = {Teeple, Clark B. and Kim, Grace Ra and Graule, Moritz A. and Wood, Robert J.},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year      = {2021},
  doi       = {10.1109/ICRA48506.2021.9562049}
}

Full list on Google Scholar.

Research

Hierarchical Offline Planning for Autonomous Enceladus Orbital Operations

Scalable LEO Conjunction Screening using Adaptive Synthetic-Covariance Thresholds

FLyCubes: Federated Learning on Cube Satellites

Autonomous Federated Learning in LEO Satellite Constellations

Governing Orbits: Collision Prevention and Liability in the Age of Autonomous Space Operations

GPU-Accelerated Astrodynamics World Models for Spacecraft Rendezvous and Proximity Operations

Semi-Decentralized Multi-Spacecraft Collision Avoidance under Communication Constraints

Chance-Constrained Belief-Space Maneuver Planning for Autonomous Collision Avoidance Under Uncertainty

Free-Placement Optimization of Ground Station Locations for Low-Earth Orbit Satellites

Bringing Federated Learning to Space

Scalable Ground Station Selection for Large LEO Constellations

The Doctor Will (Still) See You Now: On the Structural Limits of Agentic AI in Healthcare

Adaptive Science Operations in Deep Space Missions Using Offline Belief State Planning

Who Takes Out the Trash in Space?

Communication-Efficient Learning for Satellite Constellations

The measurement imbalance in agentic AI evaluation undermines industry productivity claims

Space for Improvement: Navigating the Design Space for Federated Learning in Satellite Constellations

Controlling palm-object interactions via friction for enhanced in-hand manipulation

SoMo: Fast and accurate simulations of continuum robots in complex environments

An active palm enhances dexterity of soft robotic in-hand manipulation