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…ergence at difficulty=0
…30-50m starting distance
…d closing velocity
… actor/critic, soft speed annealing, potential-based proximity distance reward, 96% dock rate
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Adds a spacecraft rendezvous and docking environment. A chaser spacecraft navigates 400–1200m to reach a docking port along one of the station's axes. Physics is based on CW dynamics, the standard model for proximity operations in circular orbit.
Details
Environment
Box(10,)observations: LVLH position/velocity + distance, speed, closing velocity, time remainingBox(3,)actions: thrust fraction per axisFirst time using PufferLib, successfully trained a 99.5% docking policy after some iterations on rewards, tested on MPS.
For more details on the environments, rewards, and working policy see README.
Demo
orbital_dock_demo.mp4