A 3D landing challenge inspired by the classic 2D Lunar Lander.
A lander starts at a random position around the landing base with a certain height. To add some extra difficulty, it also starts with a random tilt. The lander has 5 engines : one engine at the bottom and four auxiliary engines on the sides.
The goal is to land with the 4 pads on the landing area. The landing area center is at (0,0,0).
Continuous Box(10) :
| Idx | Observation | Min | Max |
|---|---|---|---|
| 0 | X Position | -8 | 8 |
| 1 | Y Position | 0 | 14 |
| 2 | Z Position | -8 | 8 |
| 3 | X Velocity | -8 | 8 |
| 4 | Y Velocity | -7 | 7 |
| 5 | Z Velocity | -8 | 8 |
| 7 | AuxX vertical projection | -1 | 1 |
| 8 | AuxZ vertical projection | -1 | 1 |
| 9 | AuxX vertical projection speed | -1 | 1 |
| 10 | AuxZ vertical projection speed | -1 | 1 |
Where 'AuxX vertical projection' is dot product between the AuxX engine fire direction vector and the world Y axis (vertical).
Box(6) :
| Value | Action |
|---|---|
| 0 | Fire Main engine |
| 1 | Fire AuxX engine |
| 2 | Fire AuxXn engine |
| 3 | Fire AuxZ engine |
| 4 | Fire AuxZn engine |
| 5 | Fire no engine |
Reward is :
distance reward + tilt reward + landing reward
where :
distance rewardinv. proportional to the distance between the lander and the landing areatilt rewardproportional to the tilt angle of the landerlanding rewardproportional to the number of landing pad on the landing area.
One the lander X, Y or Z position coordinate outside the limits.
learn.py (to be launched from within the script's own folder), uses Stable-Baseline & multi process vectorized environments.