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RL algorithm and working model: https://github.com/EmbersArc/PPO
/envs/box2d/rocket_lander.py is the only important file, along with some small changes to init files, see https://github.com/openai/gym#environments
The objective of this environment is to land a rocket on a ship. The environment is highly customizable and takes discrete or continuous inputs.
The state consists of the following variables:
- x position
- y position
- angle
- first leg ground contact indicator
- second leg ground contact indicator
- throttle
- engine gimbal
If VEL_STATE is set to true, the velocities are included:
- x velocity
- y velocity
- angular velocity
All state variables are normalized for improved training.
Discrete control inputs are:
- gimbal left
- gimbal right
- throttle up
- throttle down
- use first control thruster
- use second control thruster
- no action
Continuous control inputs are:
- gimbal (left/right)
- throttle (up/down)
- control thruster (left/right)