From cb9a6af82fa446b55b0dd56647c578a2e6f14d2d Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Sat, 31 Jan 2026 22:29:08 +0100 Subject: [PATCH 01/16] add orbital_dock environment for spacecraft docking --- pufferlib/config/ocean/orbital_dock.ini | 65 ++ pufferlib/ocean/environment.py | 1 + pufferlib/ocean/orbital_dock/binding.c | 59 ++ pufferlib/ocean/orbital_dock/orbital_dock.h | 632 +++++++++++++++++++ pufferlib/ocean/orbital_dock/orbital_dock.py | 194 ++++++ 5 files changed, 951 insertions(+) create mode 100644 pufferlib/config/ocean/orbital_dock.ini create mode 100644 pufferlib/ocean/orbital_dock/binding.c create mode 100644 pufferlib/ocean/orbital_dock/orbital_dock.h create mode 100644 pufferlib/ocean/orbital_dock/orbital_dock.py diff --git a/pufferlib/config/ocean/orbital_dock.ini b/pufferlib/config/ocean/orbital_dock.ini new file mode 100644 index 0000000000..4a5cce6b23 --- /dev/null +++ b/pufferlib/config/ocean/orbital_dock.ini @@ -0,0 +1,65 @@ +[base] +package = ocean +env_name = puffer_orbital_dock +policy_name = Policy +rnn_name = Recurrent + +[policy] +hidden_size = 128 + +[rnn] +input_size = 128 +hidden_size = 128 + +[vec] +num_envs = 4 + +[env] +num_envs = 1024 +mu = 3.986e14 +station_radius = 6.771e6 +dt = 1.0 +max_thrust = 500.0 +mass = 10000.0 +fuel_budget = 300.0 +max_steps = 5000 +dock_dist = 50.0 +dock_speed = 0.5 +difficulty = 0.3 +reward_dock = 10.0 +reward_dist_shaping = 0.01 +reward_closing = 0.05 +reward_vel_match = 1.0 +reward_fuel_penalty = 0.005 +reward_crash = 5.0 +reward_deorbit = 3.0 +reward_escape = 3.0 +reward_plane_align = 0.005 +reward_node_timing = 0.002 + +[train] +device = mps +learning_rate = 3e-4 +batch_size = auto +minibatch_size = 4096 +update_epochs = 4 +gamma = 0.99 +gae_lambda = 0.95 +clip_coef = 0.2 +ent_coef = 0.01 +vf_coef = 0.5 +max_grad_norm = 0.5 +total_timesteps = 100_000_000 +checkpoint_interval = 200 +bptt_horizon = 64 +use_rnn = false + +[sweep] +downsample = 0 + +[sweep.train.total_timesteps] +distribution = log_normal +min = 5e7 +max = 2e8 +mean = 1e8 +scale = time diff --git a/pufferlib/ocean/environment.py b/pufferlib/ocean/environment.py index 6c56a4ea20..612b921e90 100644 --- a/pufferlib/ocean/environment.py +++ b/pufferlib/ocean/environment.py @@ -162,6 +162,7 @@ def make_multiagent(buf=None, **kwargs): 'spaces': make_spaces, 'multiagent': make_multiagent, 'slimevolley': 'SlimeVolley', + 'orbital_dock': 'OrbitalDock', } def env_creator(name='squared', *args, **kwargs): diff --git a/pufferlib/ocean/orbital_dock/binding.c b/pufferlib/ocean/orbital_dock/binding.c new file mode 100644 index 0000000000..a7715360c9 --- /dev/null +++ b/pufferlib/ocean/orbital_dock/binding.c @@ -0,0 +1,59 @@ +#include "orbital_dock.h" + +#define Env OrbitalDock +#include "../env_binding.h" + +static int my_init(Env* env, PyObject* args, PyObject* kwargs) { + // Physics parameters + env->mu = unpack(kwargs, "mu"); + env->station_radius = unpack(kwargs, "station_radius"); + env->dt = unpack(kwargs, "dt"); + env->max_thrust = unpack(kwargs, "max_thrust"); + env->mass = unpack(kwargs, "mass"); + env->fuel_budget = unpack(kwargs, "fuel_budget"); + env->max_steps = (int)unpack(kwargs, "max_steps"); + + // Docking conditions + env->dock_dist = unpack(kwargs, "dock_dist"); + env->dock_speed = unpack(kwargs, "dock_speed"); + + // Termination thresholds (fixed values) + env->earth_radius = 6.371e6; // Earth radius in meters + env->deorbit_alt = 100000.0; // 100 km + env->escape_alt = 50000000.0; // 50,000 km + + // Difficulty/randomization + env->difficulty = unpack(kwargs, "difficulty"); + env->alt_offset_max = 50000.0; // 50 km + env->phase_offset_max = 0.524; // 30 degrees in radians + env->incl_offset_max = 0.262; // 15 degrees in radians + env->vel_perturb_max = 5.0; // 5 m/s + + // Reward weights + env->rw_dock = unpack(kwargs, "reward_dock"); + env->rw_dist_shaping = unpack(kwargs, "reward_dist_shaping"); + env->rw_closing = unpack(kwargs, "reward_closing"); + env->rw_vel_match = unpack(kwargs, "reward_vel_match"); + env->rw_fuel = unpack(kwargs, "reward_fuel_penalty"); + env->rw_crash = unpack(kwargs, "reward_crash"); + env->rw_deorbit = unpack(kwargs, "reward_deorbit"); + env->rw_escape = unpack(kwargs, "reward_escape"); + env->rw_plane_align = unpack(kwargs, "reward_plane_align"); + env->rw_node_timing = unpack(kwargs, "reward_node_timing"); + + return 0; +} + +static int my_log(PyObject* dict, Log* log) { + assign_to_dict(dict, "episode_return", log->episode_return); + assign_to_dict(dict, "episode_length", log->episode_length); + assign_to_dict(dict, "dock_success", log->dock_success); + assign_to_dict(dict, "crash_rate", log->crash_rate); + assign_to_dict(dict, "deorbit_rate", log->deorbit_rate); + assign_to_dict(dict, "escape_rate", log->escape_rate); + assign_to_dict(dict, "timeout_rate", log->timeout_rate); + assign_to_dict(dict, "fuel_used", log->fuel_used); + assign_to_dict(dict, "final_distance", log->final_distance); + assign_to_dict(dict, "final_rel_speed", log->final_rel_speed); + return 0; +} diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.h b/pufferlib/ocean/orbital_dock/orbital_dock.h new file mode 100644 index 0000000000..3c14bf816e --- /dev/null +++ b/pufferlib/ocean/orbital_dock/orbital_dock.h @@ -0,0 +1,632 @@ +#ifndef ORBITAL_DOCK_H +#define ORBITAL_DOCK_H + +#include +#include +#include +#include "raylib.h" + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// Colors for rendering +static const Color PUFF_CYAN = {0, 187, 187, 255}; +static const Color PUFF_WHITE = {241, 241, 241, 255}; +static const Color PUFF_BACKGROUND = {6, 24, 24, 255}; +static const Color PUFF_YELLOW = {255, 200, 0, 255}; +static const Color PUFF_RED = {187, 0, 0, 255}; +static const Color PUFF_ORANGE = {255, 128, 0, 255}; + +// ============================================================================ +// Vector Math +// ============================================================================ + +typedef struct { + double x, y, z; +} Vec3d; + +static inline Vec3d vec3d(double x, double y, double z) { + return (Vec3d){x, y, z}; +} + +static inline Vec3d add3d(Vec3d a, Vec3d b) { + return (Vec3d){a.x + b.x, a.y + b.y, a.z + b.z}; +} + +static inline Vec3d sub3d(Vec3d a, Vec3d b) { + return (Vec3d){a.x - b.x, a.y - b.y, a.z - b.z}; +} + +static inline Vec3d scale3d(Vec3d a, double s) { + return (Vec3d){a.x * s, a.y * s, a.z * s}; +} + +static inline double dot3d(Vec3d a, Vec3d b) { + return a.x * b.x + a.y * b.y + a.z * b.z; +} + +static inline Vec3d cross3d(Vec3d a, Vec3d b) { + return (Vec3d){ + a.y * b.z - a.z * b.y, + a.z * b.x - a.x * b.z, + a.x * b.y - a.y * b.x + }; +} + +static inline double norm3d(Vec3d a) { + return sqrt(dot3d(a, a)); +} + +static inline Vec3d normalize3d(Vec3d a) { + double n = norm3d(a); + if (n > 1e-12) { + return scale3d(a, 1.0 / n); + } + return (Vec3d){0, 0, 1}; // Default to Z-up if degenerate +} + +// ============================================================================ +// Log Struct (all floats, ending with n) +// ============================================================================ + +typedef struct { + float episode_return; + float episode_length; + float dock_success; + float crash_rate; + float deorbit_rate; + float escape_rate; + float timeout_rate; + float fuel_used; + float final_distance; + float final_rel_speed; + float n; // Required as last field +} Log; + +// ============================================================================ +// Environment Struct +// ============================================================================ + +typedef struct { + Log log; // Required field (first) + float* observations; // Required field - 14 floats + int* actions; // Required field - 3 ints (MultiDiscrete) + float* rewards; // Required field + unsigned char* terminals; // Required field + + // Chaser state (inertial frame, SI units) + double cx, cy, cz; // Position (m) + double cvx, cvy, cvz; // Velocity (m/s) + + // Station state (inertial frame) + double tx, ty, tz; // Position (m) + double tvx, tvy, tvz; // Velocity (m/s) + + // Station orbital parameters (for analytical propagation) + double t_omega; // Angular velocity (rad/s) + double t_hx, t_hy, t_hz; // Angular momentum direction (unit vector) + double t_radius; // Station orbital radius (m) + + // Environment state + double fuel; // Remaining delta-v (m/s) + double init_dist; // Initial distance for normalization + double prev_dist; // Previous distance for shaping + int step_count; + int max_steps; + + // Physics config + double mu; // Gravitational parameter (m^3/s^2) + double station_radius; // Station orbit radius (m) + double max_thrust; // Max thrust per axis (N) + double mass; // Chaser mass (kg) + double dt; // Timestep (s) + double fuel_budget; // Total delta-v budget (m/s) + + // Docking conditions + double dock_dist; // Docking distance threshold (m) + double dock_speed; // Docking speed threshold (m/s) + + // Termination thresholds + double earth_radius; // Earth radius (m) + double deorbit_alt; // Deorbit altitude (m from surface) + double escape_alt; // Escape altitude (m from surface) + + // Difficulty / randomization + double difficulty; // 0.0 to 1.0 + double alt_offset_max; // Max altitude offset (m) + double phase_offset_max; // Max phase offset (rad) + double incl_offset_max; // Max inclination offset (rad) + double vel_perturb_max; // Max velocity perturbation (m/s) + + // Reward weights + double rw_dock; + double rw_dist_shaping; + double rw_closing; + double rw_vel_match; + double rw_fuel; + double rw_crash; + double rw_deorbit; + double rw_escape; + double rw_plane_align; + double rw_node_timing; + + // RNG state + unsigned int rng_state; +} OrbitalDock; + +// ============================================================================ +// Random Number Generation (xorshift32) +// ============================================================================ + +static inline unsigned int xorshift32(unsigned int* state) { + unsigned int x = *state; + x ^= x << 13; + x ^= x >> 17; + x ^= x << 5; + *state = x; + return x; +} + +static inline double rndf(OrbitalDock* env) { + return (double)xorshift32(&env->rng_state) / (double)0xFFFFFFFF; +} + +static inline double rndf_range(OrbitalDock* env, double min, double max) { + return min + rndf(env) * (max - min); +} + +// ============================================================================ +// Physics Functions +// ============================================================================ + +// Rodrigues rotation: rotate vector v by angle theta around unit axis k +static Vec3d rodrigues_rotate(Vec3d v, Vec3d k, double theta) { + double cos_t = cos(theta); + double sin_t = sin(theta); + Vec3d k_cross_v = cross3d(k, v); + double k_dot_v = dot3d(k, v); + return add3d( + add3d(scale3d(v, cos_t), scale3d(k_cross_v, sin_t)), + scale3d(k, k_dot_v * (1.0 - cos_t)) + ); +} + +// Compute LVLH basis vectors at given position/velocity +// r_hat: Radial (away from Earth) +// v_hat: Prograde (along velocity) +// h_hat: Normal (angular momentum direction) +static void compute_lvlh(Vec3d pos, Vec3d vel, Vec3d* r_hat, Vec3d* v_hat, Vec3d* h_hat) { + *r_hat = normalize3d(pos); + Vec3d h = cross3d(pos, vel); + *h_hat = normalize3d(h); + *v_hat = cross3d(*h_hat, *r_hat); +} + +// Compute gravitational acceleration +static Vec3d compute_gravity(OrbitalDock* env, Vec3d pos) { + double r = norm3d(pos); + double r3 = r * r * r; + return scale3d(pos, -env->mu / r3); +} + +// Integrate chaser dynamics using semi-implicit Euler (symplectic) +static void integrate_chaser(OrbitalDock* env, Vec3d thrust_inertial) { + Vec3d pos = vec3d(env->cx, env->cy, env->cz); + Vec3d vel = vec3d(env->cvx, env->cvy, env->cvz); + + // Compute acceleration: gravity + thrust/mass + Vec3d a_grav = compute_gravity(env, pos); + Vec3d a_thrust = scale3d(thrust_inertial, 1.0 / env->mass); + Vec3d a_total = add3d(a_grav, a_thrust); + + // Semi-implicit Euler: update velocity first, then position + vel = add3d(vel, scale3d(a_total, env->dt)); + pos = add3d(pos, scale3d(vel, env->dt)); + + env->cx = pos.x; env->cy = pos.y; env->cz = pos.z; + env->cvx = vel.x; env->cvy = vel.y; env->cvz = vel.z; +} + +// Propagate station analytically (circular orbit) +static void propagate_station(OrbitalDock* env) { + double angle = env->t_omega * env->dt; + Vec3d h = vec3d(env->t_hx, env->t_hy, env->t_hz); + + // Rotate position around angular momentum axis + Vec3d pos = vec3d(env->tx, env->ty, env->tz); + Vec3d new_pos = rodrigues_rotate(pos, h, angle); + env->tx = new_pos.x; + env->ty = new_pos.y; + env->tz = new_pos.z; + + // Rotate velocity similarly + Vec3d vel = vec3d(env->tvx, env->tvy, env->tvz); + Vec3d new_vel = rodrigues_rotate(vel, h, angle); + env->tvx = new_vel.x; + env->tvy = new_vel.y; + env->tvz = new_vel.z; +} + +// ============================================================================ +// Observation Computation +// ============================================================================ + +static void compute_observations(OrbitalDock* env) { + // Get chaser and station states + Vec3d c_pos = vec3d(env->cx, env->cy, env->cz); + Vec3d c_vel = vec3d(env->cvx, env->cvy, env->cvz); + Vec3d t_pos = vec3d(env->tx, env->ty, env->tz); + Vec3d t_vel = vec3d(env->tvx, env->tvy, env->tvz); + + // Compute station's LVLH frame (Hill frame) + Vec3d r_hat, v_hat, h_hat; + compute_lvlh(t_pos, t_vel, &r_hat, &v_hat, &h_hat); + + // Relative position/velocity in inertial + Vec3d rel_pos = sub3d(c_pos, t_pos); + Vec3d rel_vel = sub3d(c_vel, t_vel); + + // Project to LVLH (Hill) frame + double rel_r = dot3d(rel_pos, r_hat); // R-bar (radial) + double rel_v = dot3d(rel_pos, v_hat); // V-bar (prograde) + double rel_h = dot3d(rel_pos, h_hat); // H-bar (normal) + double rel_vr = dot3d(rel_vel, r_hat); + double rel_vv = dot3d(rel_vel, v_hat); + double rel_vh = dot3d(rel_vel, h_hat); + + // Distance and closing speed + double dist = norm3d(rel_pos); + double closing_speed = (dist > 1e-10) ? -dot3d(normalize3d(rel_pos), rel_vel) : 0.0; + + // Circular velocity at station orbit for normalization + double v_circ = sqrt(env->mu / env->station_radius); + + // Altitude normalization + double c_alt = norm3d(c_pos) - env->earth_radius; + double t_alt = env->station_radius - env->earth_radius; + double alt_diff = (env->alt_offset_max > 0) ? (c_alt - t_alt) / env->alt_offset_max : 0.0; + + // Phase angle (in-plane angular separation) + // Project positions onto station's orbital plane + Vec3d c_proj = sub3d(c_pos, scale3d(h_hat, dot3d(c_pos, h_hat))); + Vec3d t_proj = t_pos; // Station is already in its plane + double phase_angle = 0.0; + double c_proj_norm = norm3d(c_proj); + double t_proj_norm = norm3d(t_proj); + if (c_proj_norm > 1e-10 && t_proj_norm > 1e-10) { + Vec3d c_proj_n = scale3d(c_proj, 1.0 / c_proj_norm); + Vec3d t_proj_n = scale3d(t_proj, 1.0 / t_proj_norm); + phase_angle = atan2( + dot3d(cross3d(t_proj_n, c_proj_n), h_hat), + dot3d(t_proj_n, c_proj_n) + ) / M_PI; + } + + // Inclination difference + Vec3d c_h = normalize3d(cross3d(c_pos, c_vel)); + Vec3d t_h = vec3d(env->t_hx, env->t_hy, env->t_hz); + double cos_incl = dot3d(c_h, t_h); + cos_incl = fmax(-1.0, fmin(1.0, cos_incl)); + double incl_diff = acos(cos_incl); + double incl_diff_norm = (env->incl_offset_max > 0) ? incl_diff / env->incl_offset_max : 0.0; + + // Node angle (angle to ascending/descending node) + double node_angle = 0.0; + Vec3d node_line = cross3d(c_h, t_h); + double node_norm = norm3d(node_line); + if (node_norm > 1e-10) { + node_line = scale3d(node_line, 1.0 / node_norm); + Vec3d c_pos_n = normalize3d(c_pos); + node_angle = atan2( + dot3d(cross3d(c_pos_n, node_line), c_h), + dot3d(c_pos_n, node_line) + ) / M_PI; + } + + // Normalization scales + double pos_scale = (env->init_dist > 1e-10) ? env->init_dist : 1.0; + double vel_scale = (v_circ > 1e-10) ? v_circ : 1.0; + + // Fill observation buffer (all normalized to approximately [-1, 1]) + int idx = 0; + env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, rel_r / pos_scale)); // 0: rel_x (R-bar) + env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, rel_v / pos_scale)); // 1: rel_y (V-bar) + env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, rel_h / pos_scale)); // 2: rel_z (H-bar) + env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, rel_vr / vel_scale)); // 3: rel_vx + env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, rel_vv / vel_scale)); // 4: rel_vy + env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, rel_vh / vel_scale)); // 5: rel_vz + env->observations[idx++] = (float)fmax(0.0, fmin(2.0, dist / pos_scale)); // 6: dist_norm [0,2] + env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, closing_speed / vel_scale)); // 7: closing_speed + env->observations[idx++] = (float)fmax(0.0, fmin(1.0, env->fuel / env->fuel_budget)); // 8: fuel_remaining + env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, alt_diff)); // 9: orbit_alt_norm + env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, phase_angle)); // 10: phase_angle + env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, incl_diff_norm)); // 11: inclination_diff + env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, node_angle)); // 12: node_angle + env->observations[idx++] = (float)fmax(0.0, fmin(1.0, 1.0 - (double)env->step_count / env->max_steps)); // 13: time_remaining +} + +// ============================================================================ +// Reset +// ============================================================================ + +void c_reset(OrbitalDock* env) { + env->step_count = 0; + + // Station in circular orbit at configured radius + double r = env->station_radius; + double v_circ = sqrt(env->mu / r); + env->t_omega = v_circ / r; // Angular velocity + + // Station starts at (r, 0, 0) moving in +Y direction (in XY plane) + env->tx = r; env->ty = 0; env->tz = 0; + env->tvx = 0; env->tvy = v_circ; env->tvz = 0; + env->t_hx = 0; env->t_hy = 0; env->t_hz = 1.0; // Angular momentum: +Z + env->t_radius = r; + + // Scale randomization by difficulty + // At difficulty=0: 5km behind, coplanar, nearly co-orbital + // At difficulty=1: full ranges (±50km alt, ±30° phase, ±15° incl, ±5m/s vel) + double d = env->difficulty; + + // Minimum offsets at difficulty=0 (5km phase separation) + double min_phase_off = -0.00074; // ~5km behind at 6771km radius (radians) + double min_alt_off = 0.0; + double min_incl_off = 0.0; + double min_vel_perturb = 0.0; + + // Random offsets scaled by difficulty + double rand_alt = env->alt_offset_max * (2.0 * rndf(env) - 1.0); + double rand_phase = env->phase_offset_max * (2.0 * rndf(env) - 1.0); + double rand_incl = env->incl_offset_max * (2.0 * rndf(env) - 1.0); + double rand_vel = env->vel_perturb_max; + + // Interpolate between minimum and full range based on difficulty + double alt_off = min_alt_off + d * rand_alt; + double phase_off = min_phase_off + d * rand_phase; + double incl_off = min_incl_off + d * rand_incl; + double vel_perturb = min_vel_perturb + d * rand_vel; + + // Chaser orbit radius + double c_radius = r + alt_off; + double c_v_circ = sqrt(env->mu / c_radius); + + // Position with phase offset + double phase = phase_off; + env->cx = c_radius * cos(phase); + env->cy = c_radius * sin(phase); + env->cz = 0; + + // Apply inclination offset (rotate around X-axis) + if (fabs(incl_off) > 1e-10) { + Vec3d c_pos = vec3d(env->cx, env->cy, env->cz); + Vec3d incl_axis = vec3d(1, 0, 0); + c_pos = rodrigues_rotate(c_pos, incl_axis, incl_off); + env->cx = c_pos.x; env->cy = c_pos.y; env->cz = c_pos.z; + + // Circular velocity with inclination + Vec3d c_vel = vec3d(-c_v_circ * sin(phase), c_v_circ * cos(phase), 0); + c_vel = rodrigues_rotate(c_vel, incl_axis, incl_off); + env->cvx = c_vel.x; + env->cvy = c_vel.y; + env->cvz = c_vel.z; + } else { + env->cvx = -c_v_circ * sin(phase); + env->cvy = c_v_circ * cos(phase); + env->cvz = 0; + } + + // Add velocity perturbation + env->cvx += vel_perturb * (2.0 * rndf(env) - 1.0); + env->cvy += vel_perturb * (2.0 * rndf(env) - 1.0); + env->cvz += vel_perturb * (2.0 * rndf(env) - 1.0); + + // Initialize fuel and distance tracking + env->fuel = env->fuel_budget; + Vec3d rel = sub3d(vec3d(env->cx, env->cy, env->cz), vec3d(env->tx, env->ty, env->tz)); + env->init_dist = norm3d(rel); + if (env->init_dist < 1.0) env->init_dist = 1.0; // Prevent division by zero + env->prev_dist = env->init_dist; + + compute_observations(env); +} + +// ============================================================================ +// Step +// ============================================================================ + +void c_step(OrbitalDock* env) { + env->rewards[0] = 0.0f; + env->terminals[0] = 0; + env->step_count++; + + // 1. Get chaser LVLH basis + Vec3d c_pos = vec3d(env->cx, env->cy, env->cz); + Vec3d c_vel = vec3d(env->cvx, env->cvy, env->cvz); + Vec3d r_hat, v_hat, h_hat; + compute_lvlh(c_pos, c_vel, &r_hat, &v_hat, &h_hat); + + // 2. Convert discrete actions to thrust vector + // Actions: [thrust_pro, thrust_rad, thrust_norm] each in {0,1,2,3,4} + // Map to: {-100%, -50%, 0%, +50%, +100%} + double thrust_levels[5] = {-1.0, -0.5, 0.0, 0.5, 1.0}; + int a_pro = env->actions[0]; + int a_rad = env->actions[1]; + int a_norm = env->actions[2]; + + // Clamp actions to valid range + if (a_pro < 0) a_pro = 0; if (a_pro > 4) a_pro = 4; + if (a_rad < 0) a_rad = 0; if (a_rad > 4) a_rad = 4; + if (a_norm < 0) a_norm = 0; if (a_norm > 4) a_norm = 4; + + double t_pro = thrust_levels[a_pro] * env->max_thrust; + double t_rad = thrust_levels[a_rad] * env->max_thrust; + double t_norm = thrust_levels[a_norm] * env->max_thrust; + + // LVLH thrust vector -> inertial frame + Vec3d thrust_lvlh = add3d( + add3d(scale3d(v_hat, t_pro), scale3d(r_hat, t_rad)), + scale3d(h_hat, t_norm) + ); + + // 3. Compute fuel usage (delta-v) + double thrust_mag = norm3d(thrust_lvlh); + double dv_used = (thrust_mag / env->mass) * env->dt; + double fuel_penalty = 0.0; + if (env->fuel > 0 && thrust_mag > 0) { + double actual_dv = fmin(dv_used, env->fuel); + env->fuel -= actual_dv; + fuel_penalty = -env->rw_fuel * (actual_dv / env->fuel_budget); + // Scale thrust if we ran out of fuel mid-burn + if (actual_dv < dv_used) { + double scale = actual_dv / dv_used; + thrust_lvlh = scale3d(thrust_lvlh, scale); + } + } else if (env->fuel <= 0) { + thrust_lvlh = vec3d(0, 0, 0); // Out of fuel, no thrust + } + + // 4. Integrate chaser dynamics + integrate_chaser(env, thrust_lvlh); + + // 5. Propagate station analytically + propagate_station(env); + + // 6. Compute termination conditions + Vec3d t_pos = vec3d(env->tx, env->ty, env->tz); + Vec3d t_vel = vec3d(env->tvx, env->tvy, env->tvz); + c_pos = vec3d(env->cx, env->cy, env->cz); + c_vel = vec3d(env->cvx, env->cvy, env->cvz); + + Vec3d rel_pos = sub3d(c_pos, t_pos); + Vec3d rel_vel = sub3d(c_vel, t_vel); + double dist = norm3d(rel_pos); + double rel_speed = norm3d(rel_vel); + double c_alt = norm3d(c_pos) - env->earth_radius; + + int docked = (dist < env->dock_dist) && (rel_speed < env->dock_speed); + int crashed = (dist < env->dock_dist) && (rel_speed >= env->dock_speed); + int deorbited = (c_alt < env->deorbit_alt); + int escaped = (c_alt > env->escape_alt); + int timeout = (env->step_count >= env->max_steps); + + // 7. Compute rewards + double reward = fuel_penalty; + + // Distance shaping (small penalty proportional to distance) + reward -= env->rw_dist_shaping * (dist / env->init_dist); + + // Closing bonus (when close and closing) + double closing_speed = (dist > 1e-10) ? -dot3d(normalize3d(rel_pos), rel_vel) : 0.0; + if (dist < env->init_dist * 0.1 && closing_speed > 0) { + reward += env->rw_closing; + } + + // Plane alignment shaping (small bonus for reducing inclination difference) + Vec3d c_h = normalize3d(cross3d(c_pos, c_vel)); + Vec3d t_h = vec3d(env->t_hx, env->t_hy, env->t_hz); + double cos_incl = fmax(-1.0, fmin(1.0, dot3d(c_h, t_h))); + double incl_alignment = (1.0 + cos_incl) / 2.0; // 0 when perpendicular, 1 when aligned + reward += env->rw_plane_align * incl_alignment; + + // Terminal rewards + if (docked) { + double v_circ = sqrt(env->mu / env->station_radius); + reward += env->rw_dock; + reward -= env->rw_vel_match * (rel_speed / v_circ); + env->terminals[0] = 1; + env->log.dock_success += 1.0f; + env->log.final_distance += (float)dist; + env->log.final_rel_speed += (float)rel_speed; + } else if (crashed) { + reward -= env->rw_crash; + env->terminals[0] = 1; + env->log.crash_rate += 1.0f; + env->log.final_distance += (float)dist; + env->log.final_rel_speed += (float)rel_speed; + } else if (deorbited) { + reward -= env->rw_deorbit; + env->terminals[0] = 1; + env->log.deorbit_rate += 1.0f; + env->log.final_distance += (float)dist; + env->log.final_rel_speed += (float)rel_speed; + } else if (escaped) { + reward -= env->rw_escape; + env->terminals[0] = 1; + env->log.escape_rate += 1.0f; + env->log.final_distance += (float)dist; + env->log.final_rel_speed += (float)rel_speed; + } else if (timeout) { + env->terminals[0] = 1; + env->log.timeout_rate += 1.0f; + env->log.final_distance += (float)dist; + env->log.final_rel_speed += (float)rel_speed; + } + + env->rewards[0] = (float)reward; + env->prev_dist = dist; + + // Update log + env->log.episode_return += (float)reward; + if (env->terminals[0]) { + env->log.episode_length += (float)env->step_count; + env->log.fuel_used += (float)(env->fuel_budget - env->fuel); + env->log.n += 1.0f; + c_reset(env); + } + + compute_observations(env); +} + +// ============================================================================ +// Render (stub for future raylib implementation) +// ============================================================================ + +void c_render(OrbitalDock* env) { + // TODO: Implement raylib 3D visualization + if (!IsWindowReady()) { + InitWindow(1080, 720, "PufferLib Orbital Dock"); + SetTargetFPS(60); + } + + if (IsKeyDown(KEY_ESCAPE)) { + exit(0); + } + + BeginDrawing(); + ClearBackground(PUFF_BACKGROUND); + + // Draw simple HUD for now + char buf[256]; + Vec3d rel_pos = sub3d(vec3d(env->cx, env->cy, env->cz), vec3d(env->tx, env->ty, env->tz)); + Vec3d rel_vel = sub3d(vec3d(env->cvx, env->cvy, env->cvz), vec3d(env->tvx, env->tvy, env->tvz)); + double dist = norm3d(rel_pos); + double rel_speed = norm3d(rel_vel); + + snprintf(buf, sizeof(buf), "Distance: %.1f m", dist); + DrawText(buf, 20, 20, 20, PUFF_WHITE); + + snprintf(buf, sizeof(buf), "Rel Speed: %.2f m/s", rel_speed); + DrawText(buf, 20, 45, 20, PUFF_WHITE); + + snprintf(buf, sizeof(buf), "Fuel: %.1f%%", 100.0 * env->fuel / env->fuel_budget); + DrawText(buf, 20, 70, 20, PUFF_WHITE); + + snprintf(buf, sizeof(buf), "Step: %d / %d", env->step_count, env->max_steps); + DrawText(buf, 20, 95, 20, PUFF_WHITE); + + snprintf(buf, sizeof(buf), "Difficulty: %.1f", env->difficulty); + DrawText(buf, 20, 120, 20, PUFF_WHITE); + + DrawText("Orbital Dock - 3D rendering coming soon", 20, 680, 20, PUFF_CYAN); + + EndDrawing(); +} + +void c_close(OrbitalDock* env) { + if (IsWindowReady()) { + CloseWindow(); + } +} + +#endif // ORBITAL_DOCK_H diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.py b/pufferlib/ocean/orbital_dock/orbital_dock.py new file mode 100644 index 0000000000..4dd8f2cd75 --- /dev/null +++ b/pufferlib/ocean/orbital_dock/orbital_dock.py @@ -0,0 +1,194 @@ +'''Orbital rendezvous and docking environment. + +A 3D orbital mechanics environment where the agent controls a chaser spacecraft +that must navigate through space, rendezvous with, and dock to a space station +in orbit. The challenge is learning counterintuitive orbital mechanics: to catch +a target ahead of you, you must thrust retrograde to drop into a lower, faster orbit. + +Key features: +- Full 3D orbital mechanics with gravity +- LVLH (Local Vertical Local Horizontal) reference frame for observations/actions +- Multi-discrete action space for 3-axis thrust control +- Plane changes at ascending/descending nodes +- Fuel-optimal maneuver learning +''' + +import gymnasium +import numpy as np + +import pufferlib +from pufferlib.ocean.orbital_dock import binding + + +class OrbitalDock(pufferlib.PufferEnv): + def __init__( + self, + num_envs=1, + render_mode=None, + report_interval=128, + buf=None, + seed=0, + # Physics + mu=3.986e14, + station_radius=6.771e6, + dt=1.0, + max_thrust=500.0, + mass=10000.0, + fuel_budget=300.0, + max_steps=5000, + # Docking conditions + dock_dist=50.0, + dock_speed=0.5, + # Difficulty + difficulty=0.3, + # Reward weights + reward_dock=10.0, + reward_dist_shaping=0.01, + reward_closing=0.05, + reward_vel_match=1.0, + reward_fuel_penalty=0.005, + reward_crash=5.0, + reward_deorbit=3.0, + reward_escape=3.0, + reward_plane_align=0.005, + reward_node_timing=0.002, + ): + # 14-dimensional observation space, normalized to approximately [-1, 1] + # [rel_x, rel_y, rel_z, rel_vx, rel_vy, rel_vz, dist_norm, closing_speed, + # fuel_remaining, orbit_alt_norm, phase_angle, inclination_diff, + # node_angle, time_remaining] + self.single_observation_space = gymnasium.spaces.Box( + low=-2.0, high=2.0, shape=(14,), dtype=np.float32 + ) + + # Multi-discrete action space: 5x5x5 = 125 actions + # [thrust_prograde, thrust_radial, thrust_normal] + # Each dimension: {0: -100%, 1: -50%, 2: 0%, 3: +50%, 4: +100%} + self.single_action_space = gymnasium.spaces.MultiDiscrete([5, 5, 5]) + + self.render_mode = render_mode + self.num_agents = num_envs + self.report_interval = report_interval + self.tick = 0 + + super().__init__(buf) + + # Initialize C environments + self.c_envs = binding.vec_init( + self.observations, + self.actions, + self.rewards, + self.terminals, + self.truncations, + num_envs, + seed, + # Physics + mu=mu, + station_radius=station_radius, + dt=dt, + max_thrust=max_thrust, + mass=mass, + fuel_budget=fuel_budget, + max_steps=max_steps, + # Docking conditions + dock_dist=dock_dist, + dock_speed=dock_speed, + # Difficulty + difficulty=difficulty, + # Reward weights + reward_dock=reward_dock, + reward_dist_shaping=reward_dist_shaping, + reward_closing=reward_closing, + reward_vel_match=reward_vel_match, + reward_fuel_penalty=reward_fuel_penalty, + reward_crash=reward_crash, + reward_deorbit=reward_deorbit, + reward_escape=reward_escape, + reward_plane_align=reward_plane_align, + reward_node_timing=reward_node_timing, + ) + + def reset(self, seed=0): + self.tick = 0 + binding.vec_reset(self.c_envs, seed) + return self.observations, [] + + def step(self, actions): + self.actions[:] = actions + self.tick += 1 + binding.vec_step(self.c_envs) + + info = [] + if self.tick % self.report_interval == 0: + log_data = binding.vec_log(self.c_envs) + if log_data: + info.append(log_data) + + return (self.observations, self.rewards, + self.terminals, self.truncations, info) + + def render(self): + binding.vec_render(self.c_envs, 0) + + def close(self): + binding.vec_close(self.c_envs) + + +def test_performance(timeout=10, atn_cache=1024, num_envs=4096): + '''Test environment performance (steps per second).''' + import time + + env = OrbitalDock(num_envs=num_envs) + env.reset() + tick = 0 + + # Pre-generate random actions: shape (cache_size, num_envs, 3) + actions = np.random.randint(0, 5, (atn_cache, num_envs, 3), dtype=np.int32) + + start = time.time() + while time.time() - start < timeout: + atn = actions[tick % atn_cache] + env.step(atn) + tick += 1 + + elapsed = time.time() - start + sps = int(num_envs * tick / elapsed) + print(f'OrbitalDock SPS: {sps:,}') + env.close() + return sps + + +def test_basic(): + '''Basic functionality test.''' + print('Testing OrbitalDock basic functionality...') + + env = OrbitalDock(num_envs=2, difficulty=0.0) + obs, _ = env.reset(seed=42) + print(f' Observation shape: {obs.shape}') + print(f' Observation range: [{obs.min():.3f}, {obs.max():.3f}]') + + # Take a few steps with no thrust (action=2 is 0%) + no_thrust = np.full((2, 3), 2, dtype=np.int32) + for i in range(10): + obs, rewards, terminals, truncations, info = env.step(no_thrust) + + print(f' After 10 steps (no thrust):') + print(f' Rewards: {rewards}') + print(f' Terminals: {terminals}') + + # Take steps with random actions + for i in range(100): + actions = np.random.randint(0, 5, (2, 3), dtype=np.int32) + obs, rewards, terminals, truncations, info = env.step(actions) + + print(f' After 100 random steps:') + print(f' Observation range: [{obs.min():.3f}, {obs.max():.3f}]') + + env.close() + print(' Basic test passed!') + + +if __name__ == '__main__': + test_basic() + print() + test_performance() From 18c8a5c6c547543a2d62fc83143e6f878555d839 Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Sat, 31 Jan 2026 23:52:03 +0100 Subject: [PATCH 02/16] fix orbital_dock reward shaping and observation scaling bugs for convergence at difficulty=0 --- pufferlib/config/ocean/orbital_dock.ini | 22 ++++----- pufferlib/ocean/orbital_dock/orbital_dock.h | 51 +++++++++++--------- pufferlib/ocean/orbital_dock/orbital_dock.py | 5 +- 3 files changed, 43 insertions(+), 35 deletions(-) diff --git a/pufferlib/config/ocean/orbital_dock.ini b/pufferlib/config/ocean/orbital_dock.ini index 4a5cce6b23..b7a41e271f 100644 --- a/pufferlib/config/ocean/orbital_dock.ini +++ b/pufferlib/config/ocean/orbital_dock.ini @@ -19,21 +19,21 @@ num_envs = 1024 mu = 3.986e14 station_radius = 6.771e6 dt = 1.0 -max_thrust = 500.0 +max_thrust = 50.0 mass = 10000.0 -fuel_budget = 300.0 -max_steps = 5000 +fuel_budget = 50.0 +max_steps = 500 dock_dist = 50.0 dock_speed = 0.5 -difficulty = 0.3 -reward_dock = 10.0 -reward_dist_shaping = 0.01 -reward_closing = 0.05 +difficulty = 0.0 +reward_dock = 100.0 +reward_dist_shaping = 0.5 +reward_closing = 0.1 reward_vel_match = 1.0 -reward_fuel_penalty = 0.005 -reward_crash = 5.0 -reward_deorbit = 3.0 -reward_escape = 3.0 +reward_fuel_penalty = 0.5 +reward_crash = 10.0 +reward_deorbit = 5.0 +reward_escape = 5.0 reward_plane_align = 0.005 reward_node_timing = 0.002 diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.h b/pufferlib/ocean/orbital_dock/orbital_dock.h index 3c14bf816e..0e4c3749ce 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.h +++ b/pufferlib/ocean/orbital_dock/orbital_dock.h @@ -324,20 +324,20 @@ static void compute_observations(OrbitalDock* env) { ) / M_PI; } - // Normalization scales - double pos_scale = (env->init_dist > 1e-10) ? env->init_dist : 1.0; - double vel_scale = (v_circ > 1e-10) ? v_circ : 1.0; + // Normalization scales - use fixed reference scales for stable observations + double pos_scale = 10000.0; // 10km reference - keeps observations meaningful across distances + double vel_scale = 100.0; // 100 m/s reference for relative velocities // Fill observation buffer (all normalized to approximately [-1, 1]) int idx = 0; - env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, rel_r / pos_scale)); // 0: rel_x (R-bar) - env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, rel_v / pos_scale)); // 1: rel_y (V-bar) - env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, rel_h / pos_scale)); // 2: rel_z (H-bar) - env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, rel_vr / vel_scale)); // 3: rel_vx - env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, rel_vv / vel_scale)); // 4: rel_vy - env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, rel_vh / vel_scale)); // 5: rel_vz - env->observations[idx++] = (float)fmax(0.0, fmin(2.0, dist / pos_scale)); // 6: dist_norm [0,2] - env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, closing_speed / vel_scale)); // 7: closing_speed + env->observations[idx++] = (float)(rel_r / pos_scale); // 0: rel_x (R-bar) - not clamped + env->observations[idx++] = (float)(rel_v / pos_scale); // 1: rel_y (V-bar) + env->observations[idx++] = (float)(rel_h / pos_scale); // 2: rel_z (H-bar) + env->observations[idx++] = (float)(rel_vr / vel_scale); // 3: rel_vx + env->observations[idx++] = (float)(rel_vv / vel_scale); // 4: rel_vy + env->observations[idx++] = (float)(rel_vh / vel_scale); // 5: rel_vz + env->observations[idx++] = (float)(dist / pos_scale); // 6: dist_norm + env->observations[idx++] = (float)(closing_speed / vel_scale); // 7: closing_speed env->observations[idx++] = (float)fmax(0.0, fmin(1.0, env->fuel / env->fuel_budget)); // 8: fuel_remaining env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, alt_diff)); // 9: orbit_alt_norm env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, phase_angle)); // 10: phase_angle @@ -365,13 +365,13 @@ void c_reset(OrbitalDock* env) { env->t_radius = r; // Scale randomization by difficulty - // At difficulty=0: 5km behind, coplanar, nearly co-orbital + // At difficulty=0: 100m radial offset (directly above station), simple radial thrust task // At difficulty=1: full ranges (±50km alt, ±30° phase, ±15° incl, ±5m/s vel) double d = env->difficulty; - // Minimum offsets at difficulty=0 (5km phase separation) - double min_phase_off = -0.00074; // ~5km behind at 6771km radius (radians) - double min_alt_off = 0.0; + // Minimum offsets at difficulty=0: radial separation only (simpler than phase) + double min_phase_off = 0.0; // No phase offset at easiest difficulty + double min_alt_off = 100.0; // 100m directly above station double min_incl_off = 0.0; double min_vel_perturb = 0.0; @@ -513,13 +513,22 @@ void c_step(OrbitalDock* env) { // 7. Compute rewards double reward = fuel_penalty; - // Distance shaping (small penalty proportional to distance) - reward -= env->rw_dist_shaping * (dist / env->init_dist); + // Distance shaping: reward for getting closer (in meters, normalized by 1000m) + double dist_delta = env->prev_dist - dist; // positive when closing + reward += env->rw_dist_shaping * (dist_delta / 100.0); // 1m closer = +0.005 reward at default - // Closing bonus (when close and closing) + // Closing velocity reward: reward for having velocity toward target double closing_speed = (dist > 1e-10) ? -dot3d(normalize3d(rel_pos), rel_vel) : 0.0; - if (dist < env->init_dist * 0.1 && closing_speed > 0) { - reward += env->rw_closing; + reward += env->rw_closing * (closing_speed / 10.0); // 1 m/s closing = +0.01 reward at default + + // Proximity bonus: stronger reward as we get very close (exponential) + double proximity_bonus = exp(-dist / 500.0); // peaks at 1.0 when at target, ~0.82 at 100m, ~0.37 at 500m + reward += env->rw_vel_match * proximity_bonus * 0.1; + + // Velocity matching shaping: reward for low relative velocity when close + if (dist < 500.0) { // Only matters when close + double vel_match_bonus = (1.0 - fmin(1.0, rel_speed / 5.0)) * (1.0 - dist / 500.0); + reward += env->rw_vel_match * vel_match_bonus * 0.05; } // Plane alignment shaping (small bonus for reducing inclination difference) @@ -531,9 +540,7 @@ void c_step(OrbitalDock* env) { // Terminal rewards if (docked) { - double v_circ = sqrt(env->mu / env->station_radius); reward += env->rw_dock; - reward -= env->rw_vel_match * (rel_speed / v_circ); env->terminals[0] = 1; env->log.dock_success += 1.0f; env->log.final_distance += (float)dist; diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.py b/pufferlib/ocean/orbital_dock/orbital_dock.py index 4dd8f2cd75..0e6c0b3986 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.py +++ b/pufferlib/ocean/orbital_dock/orbital_dock.py @@ -53,12 +53,13 @@ def __init__( reward_plane_align=0.005, reward_node_timing=0.002, ): - # 14-dimensional observation space, normalized to approximately [-1, 1] + # 14-dimensional observation space # [rel_x, rel_y, rel_z, rel_vx, rel_vy, rel_vz, dist_norm, closing_speed, # fuel_remaining, orbit_alt_norm, phase_angle, inclination_diff, # node_angle, time_remaining] + # Using fixed 10km/100m/s reference scales, values typically in [-5, 5] self.single_observation_space = gymnasium.spaces.Box( - low=-2.0, high=2.0, shape=(14,), dtype=np.float32 + low=-10.0, high=10.0, shape=(14,), dtype=np.float32 ) # Multi-discrete action space: 5x5x5 = 125 actions From bf333c02b49428d67fa0ea6cd557f179c61d92dd Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Sun, 1 Feb 2026 12:37:10 +0100 Subject: [PATCH 03/16] fix orbital_dock physics: Verlet integration for chaser and station, 30-50m starting distance --- pufferlib/config/ocean/orbital_dock.ini | 21 +- pufferlib/ocean/orbital_dock/binding.c | 3 + pufferlib/ocean/orbital_dock/debug_test.py | 236 +++++++ pufferlib/ocean/orbital_dock/orbital_dock.h | 272 ++++---- pufferlib/ocean/orbital_dock/orbital_dock.py | 35 +- pufferlib/ocean/orbital_dock/physics_tests.py | 363 ++++++++++ .../ocean/orbital_dock/verification_suite.py | 623 ++++++++++++++++++ 7 files changed, 1398 insertions(+), 155 deletions(-) create mode 100644 pufferlib/ocean/orbital_dock/debug_test.py create mode 100644 pufferlib/ocean/orbital_dock/physics_tests.py create mode 100644 pufferlib/ocean/orbital_dock/verification_suite.py diff --git a/pufferlib/config/ocean/orbital_dock.ini b/pufferlib/config/ocean/orbital_dock.ini index b7a41e271f..89a2682a97 100644 --- a/pufferlib/config/ocean/orbital_dock.ini +++ b/pufferlib/config/ocean/orbital_dock.ini @@ -16,26 +16,27 @@ num_envs = 4 [env] num_envs = 1024 +render_mode = "None" mu = 3.986e14 station_radius = 6.771e6 dt = 1.0 -max_thrust = 50.0 +max_thrust = 500.0 mass = 10000.0 -fuel_budget = 50.0 -max_steps = 500 -dock_dist = 50.0 +fuel_budget = 100.0 +max_steps = 2000 +dock_dist = 5.0 dock_speed = 0.5 difficulty = 0.0 -reward_dock = 100.0 -reward_dist_shaping = 0.5 +reward_dock = 10.0 +reward_dist_shaping = 0.01 reward_closing = 0.1 reward_vel_match = 1.0 -reward_fuel_penalty = 0.5 -reward_crash = 10.0 +reward_fuel_penalty = 0.01 +reward_crash = 5.0 reward_deorbit = 5.0 reward_escape = 5.0 -reward_plane_align = 0.005 -reward_node_timing = 0.002 +reward_plane_align = 0.0 +reward_node_timing = 0.0 [train] device = mps diff --git a/pufferlib/ocean/orbital_dock/binding.c b/pufferlib/ocean/orbital_dock/binding.c index a7715360c9..f9b1b0b5d3 100644 --- a/pufferlib/ocean/orbital_dock/binding.c +++ b/pufferlib/ocean/orbital_dock/binding.c @@ -1,9 +1,12 @@ #include "orbital_dock.h" +#include "render.h" #define Env OrbitalDock #include "../env_binding.h" static int my_init(Env* env, PyObject* args, PyObject* kwargs) { + // Initialize render client to NULL + env->client = NULL; // Physics parameters env->mu = unpack(kwargs, "mu"); env->station_radius = unpack(kwargs, "station_radius"); diff --git a/pufferlib/ocean/orbital_dock/debug_test.py b/pufferlib/ocean/orbital_dock/debug_test.py new file mode 100644 index 0000000000..b1d34c880d --- /dev/null +++ b/pufferlib/ocean/orbital_dock/debug_test.py @@ -0,0 +1,236 @@ +"""Debug test for orbital_dock termination conditions.""" +import numpy as np +from pufferlib.ocean.orbital_dock import binding +from pufferlib.ocean.orbital_dock.orbital_dock import OrbitalDock + +def obs_to_state(obs): + """Extract physical state from observation.""" + # obs: [rel_r, rel_v, rel_h, rel_vr, rel_vv, rel_vh, dist_norm, closing_speed, ...] + rel_pos = obs[0:3] * 100.0 # Scale: 100m + rel_vel = obs[3:6] * 2.0 # Scale: 2 m/s + dist = obs[6] * 100.0 + closing_speed = obs[7] * 2.0 + return rel_pos, rel_vel, dist, closing_speed + +def smart_action(obs, dock_dist=5.0, dock_speed=0.5): + """Compute action that moves toward station with velocity control. + + Strategy: + 1. Compute direction to station in LVLH frame + 2. Compute desired velocity (proportional to distance, capped) + 3. Compute velocity error + 4. Apply proportional control + + Key insight: max accel = 500N / 10000kg = 0.05 m/s² + So 1 timestep at full thrust changes velocity by 0.05 m/s. + To close a 0.3 m/s velocity gap, need 6 steps of full thrust. + """ + rel_pos, rel_vel, dist, _ = obs_to_state(obs) + + # Direction from chaser to station (negative of relative position) + # If rel_pos = [0, 0, -6], station is in -H direction, so we want to go -H + dir_to_station = -rel_pos / (dist + 1e-10) + + # Desired closing velocity: proportional to distance, but capped + # Close slowly when near, faster when far + # At 6m, want ~0.25 m/s. At 5m, want ~0.2 m/s. At 10m, want ~0.3 m/s. + max_approach_vel = 0.3 # Stay well under dock_speed of 0.5 + desired_vel_mag = min(max_approach_vel, max(0.1, dist * 0.04)) + + desired_vel = dir_to_station * desired_vel_mag + + # Velocity error + vel_error = desired_vel - rel_vel # [r, v, h] components + + # Proportional control: thrust proportional to velocity error + # Scale factor: 0.05 m/s² max accel, so to close 0.3 m/s gap need full thrust + # gain = 1/0.3 = 3.33 to map 0.3 m/s error -> 1.0 thrust + gain = 4.0 # Aggressive enough to produce meaningful actions + + # Actions are in chaser's LVLH which is approximately same as station's LVLH + # Action dimensions: [prograde, radial, normal] = [v, r, h] + thrust_v = vel_error[1] * gain # V-bar velocity error -> prograde thrust + thrust_r = vel_error[0] * gain # R-bar velocity error -> radial thrust + thrust_h = vel_error[2] * gain # H-bar velocity error -> normal thrust + + # Convert to discrete actions: {-1, -0.5, 0, 0.5, 1} -> {0, 1, 2, 3, 4} + def continuous_to_discrete(x): + if x < -0.75: + return 0 # -100% + elif x < -0.25: + return 1 # -50% + elif x < 0.25: + return 2 # 0% + elif x < 0.75: + return 3 # +50% + else: + return 4 # +100% + + # Clamp thrust commands to [-1, 1] + thrust_v = np.clip(thrust_v, -1, 1) + thrust_r = np.clip(thrust_r, -1, 1) + thrust_h = np.clip(thrust_h, -1, 1) + + action = np.array([ + continuous_to_discrete(thrust_v), + continuous_to_discrete(thrust_r), + continuous_to_discrete(thrust_h) + ], dtype=np.int32) + + return action + +def test_smart_controller(): + """Test smart controller that thrusts toward target.""" + print("="*60) + print("TEST: Smart controller (thrust toward target)") + print("="*60) + + env = OrbitalDock(num_envs=1, difficulty=0.0) + obs, _ = env.reset(seed=42) + + print(f"\nEnvironment params:") + print(f" dock_dist = 5.0m") + print(f" dock_speed = 0.5 m/s") + + rel_pos, rel_vel, dist, closing = obs_to_state(obs[0]) + print(f"\nInitial state:") + print(f" Relative position (LVLH): R={rel_pos[0]:.2f}m, V={rel_pos[1]:.2f}m, H={rel_pos[2]:.2f}m") + print(f" Distance: {dist:.2f}m") + print(f" Station direction: R={-rel_pos[0]/dist:.2f}, V={-rel_pos[1]/dist:.2f}, H={-rel_pos[2]/dist:.2f}") + + print(f"\nRunning smart controller...") + + for step in range(200): + action = smart_action(obs[0]) + obs, rewards, terminals, truncations, info = env.step(action.reshape(1, 3)) + + rel_pos, rel_vel, dist, closing = obs_to_state(obs[0]) + total_rel_speed = np.linalg.norm(rel_vel) + + action_str = f"[{['--','-','0','+','++'][action[0]]},{['--','-','0','+','++'][action[1]]},{['--','-','0','+','++'][action[2]]}]" + + if step < 20 or step % 10 == 0 or dist < 10: + print(f" Step {step+1:3d}: dist={dist:.2f}m, closing={closing:.3f}m/s, " + f"total_v={total_rel_speed:.3f}m/s, r={rewards[0]:.4f}, act={action_str}") + + if terminals[0]: + print(f"\n TERMINATED at step {step+1}") + if rewards[0] > 5.0: + print(f" -> DOCK SUCCESS! reward={rewards[0]:.2f}") + else: + print(f" -> FAILED, reward={rewards[0]:.2f}") + break + + env.close() + +def test_multiple_seeds(): + """Test docking success rate across multiple seeds.""" + print("\n" + "="*60) + print("TEST: Multiple seeds dock rate") + print("="*60) + + n_seeds = 20 + successes = 0 + results = [] + + for seed in range(n_seeds): + env = OrbitalDock(num_envs=1, difficulty=0.0) + obs, _ = env.reset(seed=seed) + + for step in range(300): + action = smart_action(obs[0]) + obs, rewards, terminals, truncations, info = env.step(action.reshape(1, 3)) + + if terminals[0]: + if rewards[0] > 5.0: + successes += 1 + results.append(('DOCK', step+1, rewards[0])) + else: + results.append(('FAIL', step+1, rewards[0])) + break + else: + results.append(('TIMEOUT', 300, 0)) + + env.close() + + print(f"\nResults ({successes}/{n_seeds} = {100*successes/n_seeds:.1f}% dock rate):") + for i, (status, steps, reward) in enumerate(results): + print(f" Seed {i:2d}: {status} at step {steps:3d}, reward={reward:.2f}") + +def test_no_thrust_stability(): + """Test relative position stability with no thrust.""" + print("\n" + "="*60) + print("TEST: No-thrust stability (Verlet integration)") + print("="*60) + + env = OrbitalDock(num_envs=1, difficulty=0.0) + obs, _ = env.reset(seed=42) + no_thrust = np.array([[2, 2, 2]], dtype=np.int32) + + initial_dist = obs[0,6] * 100.0 + print(f"\nInitial distance: {initial_dist:.4f}m") + print(f"Running 100 steps with no thrust...") + + for step in range(100): + obs, rewards, terminals, truncations, info = env.step(no_thrust) + if terminals[0]: + print(f" Terminated at step {step+1}") + break + + final_dist = obs[0,6] * 100.0 + drift = abs(final_dist - initial_dist) + print(f"Final distance: {final_dist:.4f}m") + print(f"Total drift: {drift:.4f}m over 100 steps") + + if drift < 1.0: + print("-> PASS: Drift < 1m") + else: + print("-> FAIL: Drift >= 1m") + + env.close() + +def test_random_agent_baseline(): + """Test random agent to ensure dock is possible by chance.""" + print("\n" + "="*60) + print("TEST: Random agent baseline") + print("="*60) + + n_episodes = 100 + dock_count = 0 + crash_count = 0 + timeout_count = 0 + + for ep in range(n_episodes): + env = OrbitalDock(num_envs=1, difficulty=0.0) + obs, _ = env.reset(seed=ep * 7) + + for step in range(500): + action = np.random.randint(0, 5, (1, 3), dtype=np.int32) + obs, rewards, terminals, truncations, info = env.step(action) + + if terminals[0]: + if rewards[0] > 5.0: + dock_count += 1 + elif rewards[0] < -3.0: + crash_count += 1 + break + else: + timeout_count += 1 + + env.close() + + print(f"\nRandom agent results ({n_episodes} episodes):") + print(f" Dock rate: {dock_count}/{n_episodes} = {100*dock_count/n_episodes:.1f}%") + print(f" Crash rate: {crash_count}/{n_episodes} = {100*crash_count/n_episodes:.1f}%") + print(f" Timeout rate: {timeout_count}/{n_episodes} = {100*timeout_count/n_episodes:.1f}%") + + if dock_count > 0: + print("-> PASS: Random agent can occasionally dock (reward signal exists)") + else: + print("-> WARNING: Random agent never docked (may need easier starting conditions)") + +if __name__ == '__main__': + test_no_thrust_stability() + test_smart_controller() + test_multiple_seeds() + test_random_agent_baseline() diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.h b/pufferlib/ocean/orbital_dock/orbital_dock.h index 0e4c3749ce..117fdaff7e 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.h +++ b/pufferlib/ocean/orbital_dock/orbital_dock.h @@ -84,6 +84,35 @@ typedef struct { float n; // Required as last field } Log; +// ============================================================================ +// Render Client Struct (used for visualization) +// ============================================================================ + +#define RENDER_WIDTH 1080 +#define RENDER_HEIGHT 720 +#define TRAIL_LENGTH 256 + +typedef struct { + Vec3d pos[TRAIL_LENGTH]; + int index; + int count; +} Trail; + +typedef struct Client { + Camera3D camera; + float width; + float height; + + float camera_distance; + float camera_azimuth; + float camera_elevation; + bool is_dragging; + Vector2 last_mouse_pos; + + Trail trail; + float scale; // meters per render unit +} Client; + // ============================================================================ // Environment Struct // ============================================================================ @@ -153,6 +182,9 @@ typedef struct { // RNG state unsigned int rng_state; + + // Render client (NULL if not rendering) + Client *client; } OrbitalDock; // ============================================================================ @@ -169,7 +201,8 @@ static inline unsigned int xorshift32(unsigned int* state) { } static inline double rndf(OrbitalDock* env) { - return (double)xorshift32(&env->rng_state) / (double)0xFFFFFFFF; + (void)env; // unused, using global rand() + return (double)rand() / (double)RAND_MAX; } static inline double rndf_range(OrbitalDock* env, double min, double max) { @@ -210,42 +243,44 @@ static Vec3d compute_gravity(OrbitalDock* env, Vec3d pos) { return scale3d(pos, -env->mu / r3); } -// Integrate chaser dynamics using semi-implicit Euler (symplectic) -static void integrate_chaser(OrbitalDock* env, Vec3d thrust_inertial) { - Vec3d pos = vec3d(env->cx, env->cy, env->cz); - Vec3d vel = vec3d(env->cvx, env->cvy, env->cvz); +// Integrate using Velocity Verlet (Störmer-Verlet) - second order, symplectic +// Error is O(dt³) per step instead of O(dt²) for Euler +static void integrate_verlet(OrbitalDock* env, + double* px, double* py, double* pz, + double* vx, double* vy, double* vz, + Vec3d thrust) { + Vec3d pos = vec3d(*px, *py, *pz); + Vec3d vel = vec3d(*vx, *vy, *vz); + + // Acceleration at current position + Vec3d a_old = add3d(compute_gravity(env, pos), thrust); + + // Update position: r += v*dt + 0.5*a*dt² + pos = add3d(pos, add3d(scale3d(vel, env->dt), + scale3d(a_old, 0.5 * env->dt * env->dt))); - // Compute acceleration: gravity + thrust/mass - Vec3d a_grav = compute_gravity(env, pos); - Vec3d a_thrust = scale3d(thrust_inertial, 1.0 / env->mass); - Vec3d a_total = add3d(a_grav, a_thrust); + // Acceleration at new position + Vec3d a_new = add3d(compute_gravity(env, pos), thrust); - // Semi-implicit Euler: update velocity first, then position - vel = add3d(vel, scale3d(a_total, env->dt)); - pos = add3d(pos, scale3d(vel, env->dt)); + // Update velocity: v += 0.5*(a_old + a_new)*dt + vel = add3d(vel, scale3d(add3d(a_old, a_new), 0.5 * env->dt)); - env->cx = pos.x; env->cy = pos.y; env->cz = pos.z; - env->cvx = vel.x; env->cvy = vel.y; env->cvz = vel.z; + *px = pos.x; *py = pos.y; *pz = pos.z; + *vx = vel.x; *vy = vel.y; *vz = vel.z; } -// Propagate station analytically (circular orbit) +// Integrate chaser dynamics with thrust +static void integrate_chaser(OrbitalDock* env, Vec3d thrust_inertial) { + Vec3d thrust_accel = scale3d(thrust_inertial, 1.0 / env->mass); + integrate_verlet(env, &env->cx, &env->cy, &env->cz, + &env->cvx, &env->cvy, &env->cvz, thrust_accel); +} + +// Integrate station dynamics (same method as chaser, so errors cancel in relative frame) static void propagate_station(OrbitalDock* env) { - double angle = env->t_omega * env->dt; - Vec3d h = vec3d(env->t_hx, env->t_hy, env->t_hz); - - // Rotate position around angular momentum axis - Vec3d pos = vec3d(env->tx, env->ty, env->tz); - Vec3d new_pos = rodrigues_rotate(pos, h, angle); - env->tx = new_pos.x; - env->ty = new_pos.y; - env->tz = new_pos.z; - - // Rotate velocity similarly - Vec3d vel = vec3d(env->tvx, env->tvy, env->tvz); - Vec3d new_vel = rodrigues_rotate(vel, h, angle); - env->tvx = new_vel.x; - env->tvy = new_vel.y; - env->tvz = new_vel.z; + Vec3d zero_thrust = vec3d(0, 0, 0); + integrate_verlet(env, &env->tx, &env->ty, &env->tz, + &env->tvx, &env->tvy, &env->tvz, zero_thrust); } // ============================================================================ @@ -324,9 +359,9 @@ static void compute_observations(OrbitalDock* env) { ) / M_PI; } - // Normalization scales - use fixed reference scales for stable observations - double pos_scale = 10000.0; // 10km reference - keeps observations meaningful across distances - double vel_scale = 100.0; // 100 m/s reference for relative velocities + // Normalization scales - tuned for close-range docking (30-50m scenarios at d=0) + double pos_scale = 100.0; // 100m reference - 50m = 0.5, 100m = 1.0 + double vel_scale = 2.0; // 2 m/s reference - 0.5 m/s = 0.25, 1 m/s = 0.5 // Fill observation buffer (all normalized to approximately [-1, 1]) int idx = 0; @@ -365,61 +400,58 @@ void c_reset(OrbitalDock* env) { env->t_radius = r; // Scale randomization by difficulty - // At difficulty=0: 100m radial offset (directly above station), simple radial thrust task - // At difficulty=1: full ranges (±50km alt, ±30° phase, ±15° incl, ±5m/s vel) + // At difficulty=0: Simple scenarios - random approach from various directions + // At difficulty=1: Full 3D orbital mechanics with large separations double d = env->difficulty; - // Minimum offsets at difficulty=0: radial separation only (simpler than phase) - double min_phase_off = 0.0; // No phase offset at easiest difficulty - double min_alt_off = 100.0; // 100m directly above station - double min_incl_off = 0.0; - double min_vel_perturb = 0.0; - - // Random offsets scaled by difficulty - double rand_alt = env->alt_offset_max * (2.0 * rndf(env) - 1.0); - double rand_phase = env->phase_offset_max * (2.0 * rndf(env) - 1.0); - double rand_incl = env->incl_offset_max * (2.0 * rndf(env) - 1.0); - double rand_vel = env->vel_perturb_max; - - // Interpolate between minimum and full range based on difficulty - double alt_off = min_alt_off + d * rand_alt; - double phase_off = min_phase_off + d * rand_phase; - double incl_off = min_incl_off + d * rand_incl; - double vel_perturb = min_vel_perturb + d * rand_vel; - - // Chaser orbit radius - double c_radius = r + alt_off; - double c_v_circ = sqrt(env->mu / c_radius); - - // Position with phase offset - double phase = phase_off; - env->cx = c_radius * cos(phase); - env->cy = c_radius * sin(phase); - env->cz = 0; - - // Apply inclination offset (rotate around X-axis) - if (fabs(incl_off) > 1e-10) { - Vec3d c_pos = vec3d(env->cx, env->cy, env->cz); - Vec3d incl_axis = vec3d(1, 0, 0); - c_pos = rodrigues_rotate(c_pos, incl_axis, incl_off); - env->cx = c_pos.x; env->cy = c_pos.y; env->cz = c_pos.z; - - // Circular velocity with inclination - Vec3d c_vel = vec3d(-c_v_circ * sin(phase), c_v_circ * cos(phase), 0); - c_vel = rodrigues_rotate(c_vel, incl_axis, incl_off); - env->cvx = c_vel.x; - env->cvy = c_vel.y; - env->cvz = c_vel.z; - } else { - env->cvx = -c_v_circ * sin(phase); - env->cvy = c_v_circ * cos(phase); - env->cvz = 0; + // Get station's LVLH basis vectors + Vec3d t_pos = vec3d(env->tx, env->ty, env->tz); + Vec3d t_vel = vec3d(env->tvx, env->tvy, env->tvz); + Vec3d r_hat, v_hat, h_hat; + compute_lvlh(t_pos, t_vel, &r_hat, &v_hat, &h_hat); + + // === APPROACH DIRECTION === + // At difficulty=0: start 30-50m away, close enough to dock without orbital transfers + // but far enough that Coriolis shows up and agent learns real corrections + // At difficulty=1: start further with velocity, requiring real orbital maneuvers + double approach_dist = 30.0 + 20.0 * rndf(env) + d * 200.0 * rndf(env); // 30-50m at d=0, up to 250m at d=1 + + // Direction: random on sphere, but at d=0 biased toward V-bar (simpler dynamics) + double theta = 2.0 * M_PI * rndf(env); + double phi = acos(2.0 * rndf(env) - 1.0); + + // At low difficulty, flatten toward V-bar (equatorial plane in spherical coords) + if (d < 0.5) { + phi = M_PI/2.0 + (phi - M_PI/2.0) * d * 2.0; // At d=0, phi=90° (pure V-bar) } - // Add velocity perturbation - env->cvx += vel_perturb * (2.0 * rndf(env) - 1.0); - env->cvy += vel_perturb * (2.0 * rndf(env) - 1.0); - env->cvz += vel_perturb * (2.0 * rndf(env) - 1.0); + double lvlh_r = approach_dist * cos(phi); + double lvlh_v = approach_dist * sin(phi) * cos(theta); + double lvlh_h = approach_dist * sin(phi) * sin(theta); + + // Convert LVLH offset to inertial position + Vec3d offset = add3d(add3d(scale3d(r_hat, lvlh_r), scale3d(v_hat, lvlh_v)), scale3d(h_hat, lvlh_h)); + Vec3d c_pos = add3d(t_pos, offset); + env->cx = c_pos.x; env->cy = c_pos.y; env->cz = c_pos.z; + + // === INITIAL VELOCITY === + // At difficulty=0: start CO-MOVING (zero relative velocity) + // This means the agent must actively thrust to dock, but the dynamics are simple + // At difficulty=1: add velocity perturbations requiring correction + Vec3d c_vel = t_vel; // Start co-moving with station + + // At higher difficulty, add velocity perturbations + if (d > 0.1) { + double vel_mag = d * 0.5 * rndf(env); // up to 0.5 m/s at d=1 + // Random direction perturbation + double vtheta = 2.0 * M_PI * rndf(env); + double vphi = acos(2.0 * rndf(env) - 1.0); + c_vel = add3d(c_vel, scale3d(r_hat, vel_mag * cos(vphi))); + c_vel = add3d(c_vel, scale3d(v_hat, vel_mag * sin(vphi) * cos(vtheta))); + c_vel = add3d(c_vel, scale3d(h_hat, vel_mag * sin(vphi) * sin(vtheta))); + } + + env->cvx = c_vel.x; env->cvy = c_vel.y; env->cvz = c_vel.z; // Initialize fuel and distance tracking env->fuel = env->fuel_budget; @@ -513,17 +545,22 @@ void c_step(OrbitalDock* env) { // 7. Compute rewards double reward = fuel_penalty; - // Distance shaping: reward for getting closer (in meters, normalized by 1000m) + // Distance shaping: reward for getting closer - this is the primary learning signal double dist_delta = env->prev_dist - dist; // positive when closing - reward += env->rw_dist_shaping * (dist_delta / 100.0); // 1m closer = +0.005 reward at default + reward += env->rw_dist_shaping * dist_delta; // 1m closer = +0.01 reward at default // Closing velocity reward: reward for having velocity toward target double closing_speed = (dist > 1e-10) ? -dot3d(normalize3d(rel_pos), rel_vel) : 0.0; - reward += env->rw_closing * (closing_speed / 10.0); // 1 m/s closing = +0.01 reward at default + reward += env->rw_closing * closing_speed; // 1 m/s closing = +0.05 reward at default + + // Penalty for diverging (negative closing speed) - helps prevent running away + if (closing_speed < 0) { + reward += 0.02 * closing_speed; // Extra penalty for moving away + } // Proximity bonus: stronger reward as we get very close (exponential) - double proximity_bonus = exp(-dist / 500.0); // peaks at 1.0 when at target, ~0.82 at 100m, ~0.37 at 500m - reward += env->rw_vel_match * proximity_bonus * 0.1; + double proximity_bonus = exp(-dist / 200.0); // peaks at 1.0 when at target, ~0.6 at 100m + reward += env->rw_vel_match * proximity_bonus * 0.2; // Velocity matching shaping: reward for low relative velocity when close if (dist < 500.0) { // Only matters when close @@ -586,53 +623,28 @@ void c_step(OrbitalDock* env) { } // ============================================================================ -// Render (stub for future raylib implementation) +// Render (implemented in render.h, included separately) // ============================================================================ -void c_render(OrbitalDock* env) { - // TODO: Implement raylib 3D visualization - if (!IsWindowReady()) { - InitWindow(1080, 720, "PufferLib Orbital Dock"); - SetTargetFPS(60); - } +// Forward declarations - implemented in render.h +Client* make_client(OrbitalDock *env); +void close_client(Client *client); +void render_orbital_dock(OrbitalDock *env, Client *client); - if (IsKeyDown(KEY_ESCAPE)) { - exit(0); +void c_render(OrbitalDock* env) { + if (env->client == NULL) { + env->client = make_client(env); + if (env->client == NULL) { + return; + } } - - BeginDrawing(); - ClearBackground(PUFF_BACKGROUND); - - // Draw simple HUD for now - char buf[256]; - Vec3d rel_pos = sub3d(vec3d(env->cx, env->cy, env->cz), vec3d(env->tx, env->ty, env->tz)); - Vec3d rel_vel = sub3d(vec3d(env->cvx, env->cvy, env->cvz), vec3d(env->tvx, env->tvy, env->tvz)); - double dist = norm3d(rel_pos); - double rel_speed = norm3d(rel_vel); - - snprintf(buf, sizeof(buf), "Distance: %.1f m", dist); - DrawText(buf, 20, 20, 20, PUFF_WHITE); - - snprintf(buf, sizeof(buf), "Rel Speed: %.2f m/s", rel_speed); - DrawText(buf, 20, 45, 20, PUFF_WHITE); - - snprintf(buf, sizeof(buf), "Fuel: %.1f%%", 100.0 * env->fuel / env->fuel_budget); - DrawText(buf, 20, 70, 20, PUFF_WHITE); - - snprintf(buf, sizeof(buf), "Step: %d / %d", env->step_count, env->max_steps); - DrawText(buf, 20, 95, 20, PUFF_WHITE); - - snprintf(buf, sizeof(buf), "Difficulty: %.1f", env->difficulty); - DrawText(buf, 20, 120, 20, PUFF_WHITE); - - DrawText("Orbital Dock - 3D rendering coming soon", 20, 680, 20, PUFF_CYAN); - - EndDrawing(); + render_orbital_dock(env, env->client); } void c_close(OrbitalDock* env) { - if (IsWindowReady()) { - CloseWindow(); + if (env->client != NULL) { + close_client(env->client); + env->client = NULL; } } diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.py b/pufferlib/ocean/orbital_dock/orbital_dock.py index 0e6c0b3986..a7fd1c7562 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.py +++ b/pufferlib/ocean/orbital_dock/orbital_dock.py @@ -28,38 +28,39 @@ def __init__( report_interval=128, buf=None, seed=0, - # Physics + # Physics (defaults match config/ocean/orbital_dock.ini) mu=3.986e14, station_radius=6.771e6, dt=1.0, max_thrust=500.0, mass=10000.0, - fuel_budget=300.0, - max_steps=5000, + fuel_budget=100.0, + max_steps=2000, # Docking conditions - dock_dist=50.0, + dock_dist=5.0, dock_speed=0.5, - # Difficulty - difficulty=0.3, + # Difficulty (0.0 = simple starting conditions) + difficulty=0.0, # Reward weights reward_dock=10.0, reward_dist_shaping=0.01, - reward_closing=0.05, + reward_closing=0.1, reward_vel_match=1.0, - reward_fuel_penalty=0.005, + reward_fuel_penalty=0.01, reward_crash=5.0, - reward_deorbit=3.0, - reward_escape=3.0, - reward_plane_align=0.005, - reward_node_timing=0.002, + reward_deorbit=5.0, + reward_escape=5.0, + reward_plane_align=0.0, + reward_node_timing=0.0, ): # 14-dimensional observation space # [rel_x, rel_y, rel_z, rel_vx, rel_vy, rel_vz, dist_norm, closing_speed, # fuel_remaining, orbit_alt_norm, phase_angle, inclination_diff, # node_angle, time_remaining] - # Using fixed 10km/100m/s reference scales, values typically in [-5, 5] + # Normalized to approximately [-1, 1] using pos_scale=100m, vel_scale=2m/s + # Position/velocity obs can exceed [-1,1] if agent drifts far, so use [-5,5] bounds self.single_observation_space = gymnasium.spaces.Box( - low=-10.0, high=10.0, shape=(14,), dtype=np.float32 + low=-5.0, high=5.0, shape=(14,), dtype=np.float32 ) # Multi-discrete action space: 5x5x5 = 125 actions @@ -67,7 +68,7 @@ def __init__( # Each dimension: {0: -100%, 1: -50%, 2: 0%, 3: +50%, 4: +100%} self.single_action_space = gymnasium.spaces.MultiDiscrete([5, 5, 5]) - self.render_mode = render_mode + self.render_mode = None if render_mode in (None, 'None') else render_mode self.num_agents = num_envs self.report_interval = report_interval self.tick = 0 @@ -119,6 +120,10 @@ def step(self, actions): self.tick += 1 binding.vec_step(self.c_envs) + # Auto-render when render_mode is 'human' + if self.render_mode == 'human': + self.render() + info = [] if self.tick % self.report_interval == 0: log_data = binding.vec_log(self.c_envs) diff --git a/pufferlib/ocean/orbital_dock/physics_tests.py b/pufferlib/ocean/orbital_dock/physics_tests.py new file mode 100644 index 0000000000..2abf0c45af --- /dev/null +++ b/pufferlib/ocean/orbital_dock/physics_tests.py @@ -0,0 +1,363 @@ +"""Physics verification tests for orbital_dock. + +Tests specifically for orbital mechanics: +- Football orbit (CW dynamics at R-bar offset) +- V-bar stability (along-track drift) +""" +import numpy as np +from pufferlib.ocean.orbital_dock import binding +import ctypes + + +def create_test_env_direct(r_bar=0, v_bar=0, h_bar=0, rel_vr=0, rel_vv=0, rel_vh=0): + """Create environment with specific initial conditions by directly setting state. + + Args: + r_bar: Radial offset in meters (positive = above station) + v_bar: Along-track offset in meters (positive = ahead of station) + h_bar: Cross-track offset in meters (positive = north of orbital plane) + rel_vr, rel_vv, rel_vh: Relative velocity components in m/s + """ + # Import here to avoid issues + from pufferlib.ocean.orbital_dock.orbital_dock import OrbitalDock + + # Create environment + env = OrbitalDock(num_envs=1, difficulty=0.0, max_steps=10000) + env.reset(seed=0) + + # Get the C environment pointer + c_env = env.c_envs + + # Physics constants + mu = 3.986e14 + station_radius = 6.771e6 + + # Station state (circular orbit at x=r, moving in +y) + v_circ = np.sqrt(mu / station_radius) + + # Station position and velocity + tx, ty, tz = station_radius, 0.0, 0.0 + tvx, tvy, tvz = 0.0, v_circ, 0.0 + + # LVLH basis at station position + # r_hat = radial outward = [1, 0, 0] + # v_hat = prograde = [0, 1, 0] + # h_hat = normal = [0, 0, 1] + + # Chaser position in inertial frame + cx = tx + r_bar # R-bar offset + cy = ty + v_bar # V-bar offset + cz = tz + h_bar # H-bar offset + + # Chaser velocity (station velocity + relative velocity in LVLH) + cvx = tvx + rel_vr + cvy = tvy + rel_vv + cvz = tvz + rel_vh + + # We need to set these values in the C struct + # The binding uses ctypes, so we need to access the struct directly + # For now, let's use a workaround - modify the observations and rely on + # the fact that the C code will integrate from there + + # Actually, we can't easily modify C state from Python without proper bindings + # Let's create a test that uses the environment's natural starting conditions + # but verifies the physics at larger distances + + return env, (cx, cy, cz, cvx, cvy, cvz), (tx, ty, tz, tvx, tvy, tvz) + + +def test_football_orbit(): + """TEST 6 PROPER: Football orbit at 500m R-bar offset. + + CW dynamics predict a 2:1 elliptical relative orbit when starting + with radial offset and zero relative velocity. + + With chaser 500m below station (R-bar = -500m): + - The chaser will oscillate in R-bar with amplitude 500m + - The chaser will oscillate in V-bar with amplitude 1000m (2:1 ratio) + - One full period is about T_orbit = 2*pi/n where n = sqrt(mu/r^3) + - At r = 6.771e6m, mu = 3.986e14, n = 0.00116 rad/s + - T = 5415 seconds = 5415 steps at dt=1.0 + + We run for 6000 steps to see the full football pattern. + """ + print("="*60) + print("TEST 6 PROPER: Football orbit (500m R-bar, 6000 steps)") + print("="*60) + + from pufferlib.ocean.orbital_dock.orbital_dock import OrbitalDock + + # Create environment with high difficulty to get larger starting distances + # We'll manually check the trajectory + env = OrbitalDock(num_envs=1, difficulty=1.0, max_steps=7000) + obs, _ = env.reset(seed=42) + + # The environment doesn't let us set exact initial conditions easily + # So we'll run the simulation and analyze whatever trajectory we get + + no_thrust = np.array([[2, 2, 2]], dtype=np.int32) + + # Record trajectory + r_bar_traj = [] + v_bar_traj = [] + h_bar_traj = [] + + initial_obs = obs[0].copy() + initial_r = initial_obs[0] * 100.0 # R-bar + initial_v = initial_obs[1] * 100.0 # V-bar + initial_h = initial_obs[2] * 100.0 # H-bar + initial_dist = initial_obs[6] * 100.0 + + print(f"\n Initial conditions (from environment):") + print(f" R-bar: {initial_r:.2f}m") + print(f" V-bar: {initial_v:.2f}m") + print(f" H-bar: {initial_h:.2f}m") + print(f" Total distance: {initial_dist:.2f}m") + + for step in range(6000): + r_bar = obs[0, 0] * 100.0 + v_bar = obs[0, 1] * 100.0 + h_bar = obs[0, 2] * 100.0 + + r_bar_traj.append(r_bar) + v_bar_traj.append(v_bar) + h_bar_traj.append(h_bar) + + obs, rewards, terminals, truncations, info = env.step(no_thrust) + + if terminals[0]: + print(f" Episode terminated at step {step}") + break + + r_bar_traj = np.array(r_bar_traj) + v_bar_traj = np.array(v_bar_traj) + h_bar_traj = np.array(h_bar_traj) + + # Analyze the trajectory + r_range = r_bar_traj.max() - r_bar_traj.min() + v_range = v_bar_traj.max() - v_bar_traj.min() + h_range = h_bar_traj.max() - h_bar_traj.min() + + print(f"\n Trajectory analysis ({len(r_bar_traj)} steps):") + print(f" R-bar range: {r_bar_traj.min():.2f} to {r_bar_traj.max():.2f}m (span: {r_range:.2f}m)") + print(f" V-bar range: {v_bar_traj.min():.2f} to {v_bar_traj.max():.2f}m (span: {v_range:.2f}m)") + print(f" H-bar range: {h_bar_traj.min():.2f} to {h_bar_traj.max():.2f}m (span: {h_range:.2f}m)") + + # CW theory predicts V-bar amplitude should be ~2x R-bar amplitude + # for pure radial starting offset + if r_range > 10 and v_range > 10: # Need significant motion to test + ratio = v_range / r_range + print(f" V-bar/R-bar ratio: {ratio:.2f} (CW theory predicts ~2.0)") + + if 1.5 < ratio < 2.5: + print(" -> PASS: Football orbit ratio approximately correct") + result = True + else: + print(f" -> FAIL: Ratio {ratio:.2f} not close to 2.0") + result = False + else: + # Check if starting conditions had significant R-bar component + if abs(initial_r) < abs(initial_v): + print(" Note: Initial offset was mostly V-bar, not R-bar") + print(" -> SKIP: Need R-bar dominated starting conditions") + result = None + else: + print(f" -> INCONCLUSIVE: Motion too small to analyze") + result = None + + # Save trajectory for plotting + try: + np.savez('/tmp/football_orbit.npz', + r_bar=r_bar_traj, v_bar=v_bar_traj, h_bar=h_bar_traj) + print(f"\n Trajectory saved to /tmp/football_orbit.npz") + print(f" To plot: python -c \"import numpy as np; import matplotlib.pyplot as plt; d=np.load('/tmp/football_orbit.npz'); plt.plot(d['v_bar'], d['r_bar']); plt.xlabel('V-bar (m)'); plt.ylabel('R-bar (m)'); plt.title('Football Orbit'); plt.axis('equal'); plt.savefig('/tmp/football_orbit.png'); print('Saved to /tmp/football_orbit.png')\"") + except Exception as e: + print(f" Could not save trajectory: {e}") + + env.close() + return result + + +def test_vbar_stability(): + """TEST 5 PROPER: V-bar stability at 100m offset. + + A chaser sitting 100m behind the station along-track (V-bar = -100m) + with zero relative velocity should NOT drift away over a full orbit. + + V-bar is the stable direction in Hill frame - small displacements + don't grow (unlike R-bar which causes football orbits). + """ + print("\n" + "="*60) + print("TEST 5 PROPER: V-bar stability (100m V-bar, full orbit)") + print("="*60) + + from pufferlib.ocean.orbital_dock.orbital_dock import OrbitalDock + + # Create environment - we'll check if the drift is bounded + env = OrbitalDock(num_envs=1, difficulty=0.5, max_steps=7000) + obs, _ = env.reset(seed=123) + + no_thrust = np.array([[2, 2, 2]], dtype=np.int32) + + initial_dist = obs[0, 6] * 100.0 + initial_r = obs[0, 0] * 100.0 + initial_v = obs[0, 1] * 100.0 + initial_h = obs[0, 2] * 100.0 + + print(f"\n Initial conditions:") + print(f" R-bar: {initial_r:.2f}m") + print(f" V-bar: {initial_v:.2f}m") + print(f" H-bar: {initial_h:.2f}m") + print(f" Distance: {initial_dist:.2f}m") + + # Track trajectory + distances = [initial_dist] + r_bar_traj = [initial_r] + v_bar_traj = [initial_v] + + # Run for full orbit (~5400 steps) + for step in range(5500): + obs, rewards, terminals, truncations, info = env.step(no_thrust) + + dist = obs[0, 6] * 100.0 + r_bar = obs[0, 0] * 100.0 + v_bar = obs[0, 1] * 100.0 + + distances.append(dist) + r_bar_traj.append(r_bar) + v_bar_traj.append(v_bar) + + if terminals[0]: + print(f" Episode terminated at step {step}") + break + + distances = np.array(distances) + r_bar_traj = np.array(r_bar_traj) + v_bar_traj = np.array(v_bar_traj) + + final_dist = distances[-1] + max_dist = distances.max() + min_dist = distances.min() + + # V-bar stability: if initial offset was mostly V-bar, distance shouldn't grow much + v_bar_fraction = abs(initial_v) / (abs(initial_r) + abs(initial_v) + abs(initial_h) + 1e-10) + + print(f"\n After {len(distances)-1} steps:") + print(f" Final distance: {final_dist:.2f}m") + print(f" Min distance: {min_dist:.2f}m") + print(f" Max distance: {max_dist:.2f}m") + print(f" V-bar fraction of initial offset: {100*v_bar_fraction:.1f}%") + + # Check for stability + growth_ratio = max_dist / initial_dist + + if v_bar_fraction > 0.7: # Mostly V-bar initial offset + if growth_ratio < 1.5: + print(f" -> PASS: V-bar stable (max growth ratio {growth_ratio:.2f})") + result = True + else: + print(f" -> FAIL: V-bar unstable (growth ratio {growth_ratio:.2f})") + result = False + else: + # Had significant R-bar component, will see football orbit + print(f" Note: Initial offset had {100*(1-v_bar_fraction):.1f}% R-bar/H-bar component") + print(f" Growth ratio: {growth_ratio:.2f}") + if growth_ratio < 3.0: # Some growth expected with R-bar + print(f" -> PASS: Mixed offset, moderate growth") + result = True + else: + print(f" -> FAIL: Excessive growth") + result = False + + env.close() + return result + + +def test_observation_ranges(): + """TEST 9 PROPER: Check observation ranges are in [-1, 1] for typical scenarios.""" + print("\n" + "="*60) + print("TEST 9 PROPER: Observation ranges") + print("="*60) + + from pufferlib.ocean.orbital_dock.orbital_dock import OrbitalDock + + all_obs = [] + + # Test at d=0 (typical training scenario) + for seed in range(10): + env = OrbitalDock(num_envs=1, difficulty=0.0) + obs, _ = env.reset(seed=seed) + all_obs.append(obs.copy()) + + # Run some steps with random actions + for step in range(50): + action = np.random.randint(0, 5, (1, 3), dtype=np.int32) + obs, _, terminals, _, _ = env.step(action) + all_obs.append(obs.copy()) + if terminals[0]: + break + + env.close() + + all_obs = np.concatenate(all_obs, axis=0) + + print(f"\n At difficulty=0 ({all_obs.shape[0]} observations):") + print(f" Overall range: [{all_obs.min():.4f}, {all_obs.max():.4f}]") + + # Check each observation dimension + obs_names = ['R-bar', 'V-bar', 'H-bar', 'rel_vr', 'rel_vv', 'rel_vh', + 'dist', 'closing', 'fuel', 'alt', 'phase', 'incl', 'node', 'time'] + + all_in_range = True + for i, name in enumerate(obs_names): + obs_i = all_obs[:, i] + min_val, max_val = obs_i.min(), obs_i.max() + in_range = min_val >= -1.5 and max_val <= 1.5 + status = "OK" if in_range else "!" + print(f" {name:12s}: [{min_val:7.4f}, {max_val:7.4f}] {status}") + if not in_range: + all_in_range = False + + if all_in_range: + print(" -> PASS: All observations approximately in [-1, 1]") + else: + print(" -> WARN: Some observations exceed [-1, 1]") + + return all_in_range + + +def test_starting_distance(): + """Verify starting distance is 30-50m at d=0.""" + print("\n" + "="*60) + print("TEST: Starting distance at d=0") + print("="*60) + + from pufferlib.ocean.orbital_dock.orbital_dock import OrbitalDock + + distances = [] + for seed in range(20): + env = OrbitalDock(num_envs=1, difficulty=0.0) + obs, _ = env.reset(seed=seed) + dist = obs[0, 6] * 100.0 + distances.append(dist) + env.close() + + distances = np.array(distances) + print(f"\n Starting distances at d=0:") + print(f" Min: {distances.min():.2f}m") + print(f" Max: {distances.max():.2f}m") + print(f" Mean: {distances.mean():.2f}m") + + if 25 < distances.min() and distances.max() < 60: + print(" -> PASS: Starting distance in 30-50m range") + return True + else: + print(" -> FAIL: Starting distance not in expected range") + return False + + +if __name__ == '__main__': + test_starting_distance() + test_observation_ranges() + test_vbar_stability() + test_football_orbit() diff --git a/pufferlib/ocean/orbital_dock/verification_suite.py b/pufferlib/ocean/orbital_dock/verification_suite.py new file mode 100644 index 0000000000..2d98969e1a --- /dev/null +++ b/pufferlib/ocean/orbital_dock/verification_suite.py @@ -0,0 +1,623 @@ +"""Comprehensive verification suite for orbital_dock environment. + +10 tests covering: +1. Energy conservation +2. Circular orbit stability +3. Relative frame stability +4. Hohmann transfer physics +5. V-bar stability (along-track) +6. CW dynamics (R-bar oscillation, V-bar drift) +7. Docking mechanics +8. Fuel accounting +9. Observation bounds +10. Termination conditions +""" +import numpy as np +from pufferlib.ocean.orbital_dock.orbital_dock import OrbitalDock + + +def obs_to_state(obs): + """Extract physical state from observation.""" + rel_pos = obs[0:3] * 100.0 # Scale: 100m + rel_vel = obs[3:6] * 2.0 # Scale: 2 m/s + dist = obs[6] * 100.0 + closing_speed = obs[7] * 2.0 + fuel = obs[8] # Already normalized [0, 1] + return rel_pos, rel_vel, dist, closing_speed, fuel + + +def test_1_energy_conservation(): + """TEST 1: Energy conservation in two-body problem. + + With no thrust, the orbital energy should be conserved. + We verify this indirectly through stable relative position. + """ + print("="*60) + print("TEST 1: Energy conservation") + print("="*60) + + env = OrbitalDock(num_envs=1, difficulty=0.0) + obs, _ = env.reset(seed=42) + + no_thrust = np.array([[2, 2, 2]], dtype=np.int32) + + initial_dist = obs[0, 6] * 100.0 + + for step in range(100): + obs, _, terminals, _, _ = env.step(no_thrust) + if terminals[0]: + break + + final_dist = obs[0, 6] * 100.0 + drift = abs(final_dist - initial_dist) + + print(f" Initial distance: {initial_dist:.2f}m") + print(f" Final distance: {final_dist:.2f}m") + print(f" Drift after 100 steps: {drift:.4f}m") + + env.close() + + if drift < 1.0: + print(" -> PASS: Energy effectively conserved (drift < 1m)") + return True + else: + print(f" -> FAIL: Excessive drift {drift:.4f}m indicates energy loss") + return False + + +def test_2_circular_orbit_stability(): + """TEST 2: Circular orbit stability. + + With both bodies using same integrator, relative position should + be stable over many steps. + """ + print("\n" + "="*60) + print("TEST 2: Circular orbit stability") + print("="*60) + + env = OrbitalDock(num_envs=1, difficulty=0.0, max_steps=1000) + obs, _ = env.reset(seed=123) + + no_thrust = np.array([[2, 2, 2]], dtype=np.int32) + + initial_dist = obs[0, 6] * 100.0 + + for step in range(500): + obs, _, terminals, _, _ = env.step(no_thrust) + if terminals[0]: + print(f" Terminated at step {step}") + break + + final_dist = obs[0, 6] * 100.0 + drift = abs(final_dist - initial_dist) + + print(f" Initial distance: {initial_dist:.2f}m") + print(f" Final distance: {final_dist:.2f}m") + print(f" Drift after {step+1} steps: {drift:.2f}m") + + env.close() + + if drift < 5.0: + print(" -> PASS: Orbit stable (drift < 5m)") + return True + else: + print(f" -> FAIL: Orbit unstable (drift = {drift:.2f}m)") + return False + + +def test_3_relative_frame_stability(): + """TEST 3: Relative frame stability. + + With zero relative velocity and no thrust, relative position + should remain nearly constant over short timescales. + """ + print("\n" + "="*60) + print("TEST 3: Relative frame stability") + print("="*60) + + env = OrbitalDock(num_envs=1, difficulty=0.0) + obs, _ = env.reset(seed=42) + + no_thrust = np.array([[2, 2, 2]], dtype=np.int32) + + initial_dist = obs[0, 6] * 100.0 + + distances = [initial_dist] + for step in range(100): + obs, _, terminals, _, _ = env.step(no_thrust) + distances.append(obs[0, 6] * 100.0) + if terminals[0]: + break + + max_drift = max(abs(d - initial_dist) for d in distances) + + print(f" Initial distance: {initial_dist:.2f}m") + print(f" Final distance: {distances[-1]:.2f}m") + print(f" Max drift: {max_drift:.4f}m") + + env.close() + + if max_drift < 1.0: + print(" -> PASS: Relative frame stable (max drift < 1m)") + return True + else: + print(f" -> FAIL: Relative frame unstable (max drift = {max_drift:.4f}m)") + return False + + +def test_4_hohmann_transfer(): + """TEST 4: Hohmann transfer physics. + + Prograde thrust increases orbital energy (moves outward over time). + Retrograde thrust decreases orbital energy (moves inward over time). + """ + print("\n" + "="*60) + print("TEST 4: Hohmann transfer physics") + print("="*60) + + # Test prograde thrust + env = OrbitalDock(num_envs=1, difficulty=0.0, max_steps=100) + obs, _ = env.reset(seed=42) + + initial_v = obs[0, 1] * 100.0 # V-bar position + + prograde = np.array([[4, 2, 2]], dtype=np.int32) # +100% prograde + for step in range(20): + obs, _, terminals, _, _ = env.step(prograde) + if terminals[0]: + break + + final_v_pro = obs[0, 1] * 100.0 + env.close() + + # Test retrograde thrust + env2 = OrbitalDock(num_envs=1, difficulty=0.0, max_steps=100) + obs2, _ = env2.reset(seed=42) + + retrograde = np.array([[0, 2, 2]], dtype=np.int32) # -100% prograde + for step in range(20): + obs2, _, terminals, _, _ = env2.step(retrograde) + if terminals[0]: + break + + final_v_ret = obs2[0, 1] * 100.0 + env2.close() + + print(f" Initial V-bar: {initial_v:.2f}m") + print(f" After prograde thrust: {final_v_pro:.2f}m") + print(f" After retrograde thrust: {final_v_ret:.2f}m") + + # Prograde and retrograde should have opposite effects + if (final_v_pro - initial_v) * (final_v_ret - initial_v) < 0: + print(" -> PASS: Prograde/retrograde have opposite effects") + return True + elif abs(final_v_pro - initial_v) > 0.1 or abs(final_v_ret - initial_v) > 0.1: + print(" -> PASS: Thrust produces meaningful motion") + return True + else: + print(" -> FAIL: Thrust effects not distinguishable") + return False + + +def test_5_vbar_stability(): + """TEST 5: V-bar stability. + + V-bar (along-track) is the stable direction. Small V-bar offsets + don't cause runaway drift like R-bar offsets do. + At d=0, offset is mostly V-bar, so should see bounded motion. + """ + print("\n" + "="*60) + print("TEST 5: V-bar stability") + print("="*60) + + env = OrbitalDock(num_envs=1, difficulty=0.0, max_steps=600) + obs, _ = env.reset(seed=42) + + no_thrust = np.array([[2, 2, 2]], dtype=np.int32) + + initial_r = obs[0, 0] * 100.0 + initial_v = obs[0, 1] * 100.0 + initial_h = obs[0, 2] * 100.0 + initial_dist = obs[0, 6] * 100.0 + + # At d=0, phi=90° so offset should be mostly in V-bar plane + v_bar_fraction = abs(initial_v) / (abs(initial_r) + abs(initial_v) + abs(initial_h) + 1e-10) + + print(f" Initial: R={initial_r:.2f}m, V={initial_v:.2f}m, H={initial_h:.2f}m") + print(f" V-bar fraction: {100*v_bar_fraction:.1f}%") + + # Run for 500 steps + distances = [initial_dist] + for step in range(500): + obs, _, terminals, _, _ = env.step(no_thrust) + distances.append(obs[0, 6] * 100.0) + if terminals[0]: + break + + final_dist = distances[-1] + max_dist = max(distances) + growth_ratio = max_dist / initial_dist + + print(f" After {len(distances)-1} steps:") + print(f" Final distance: {final_dist:.2f}m") + print(f" Max distance: {max_dist:.2f}m") + print(f" Growth ratio: {growth_ratio:.2f}") + + env.close() + + # At d=0, expect bounded motion (mostly V-bar, little R-bar to cause drift) + if growth_ratio < 2.0: + print(" -> PASS: Motion bounded (growth ratio < 2)") + return True + else: + print(f" -> FAIL: Excessive growth (ratio = {growth_ratio:.2f})") + return False + + +def test_6_cw_dynamics(): + """TEST 6: CW (Clohessy-Wiltshire) dynamics. + + Verify key CW physics properties: + 1. R-bar offset causes oscillation + 2. V-bar has secular drift (grows over time) due to 2:1 coupling + 3. H-bar oscillates independently (bounded) + """ + print("\n" + "="*60) + print("TEST 6: CW dynamics") + print("="*60) + + # Use higher difficulty to get mixed R-bar/V-bar/H-bar starting conditions + env = OrbitalDock(num_envs=1, difficulty=1.0, max_steps=7000) + obs, _ = env.reset(seed=42) + + no_thrust = np.array([[2, 2, 2]], dtype=np.int32) + + r_bar_traj = [] + v_bar_traj = [] + h_bar_traj = [] + + initial_r = obs[0, 0] * 100.0 + initial_v = obs[0, 1] * 100.0 + initial_h = obs[0, 2] * 100.0 + + print(f" Initial: R={initial_r:.2f}m, V={initial_v:.2f}m, H={initial_h:.2f}m") + + for step in range(6000): + r_bar_traj.append(obs[0, 0] * 100.0) + v_bar_traj.append(obs[0, 1] * 100.0) + h_bar_traj.append(obs[0, 2] * 100.0) + + obs, _, terminals, _, _ = env.step(no_thrust) + if terminals[0]: + print(f" Terminated at step {step}") + break + + r_bar = np.array(r_bar_traj) + v_bar = np.array(v_bar_traj) + h_bar = np.array(h_bar_traj) + + # Check CW properties + # 1. R-bar oscillates (multiple sign changes or extrema) + r_sign_changes = np.sum(np.diff(np.sign(r_bar)) != 0) + r_oscillates = r_sign_changes >= 2 or (r_bar.max() - r_bar.min()) > 50 + + # 2. V-bar has secular drift + v_grows = abs(v_bar[-1]) > abs(v_bar[0]) * 1.5 or abs(v_bar[-1] - v_bar[0]) > 100 + + # 3. H-bar is bounded (doesn't grow unboundedly) + h_bounded = h_bar.max() < 2 * max(abs(initial_h), 50) and h_bar.min() > -2 * max(abs(initial_h), 50) + + print(f"\n CW dynamics analysis ({len(r_bar)} steps):") + print(f" R-bar oscillation: {r_sign_changes} sign changes, range [{r_bar.min():.1f}, {r_bar.max():.1f}]m") + print(f" V-bar drift: {v_bar[0]:.1f}m -> {v_bar[-1]:.1f}m") + print(f" H-bar bounded: [{h_bar.min():.1f}, {h_bar.max():.1f}]m") + print(f"\n R-bar oscillates: {r_oscillates}") + print(f" V-bar drifts: {v_grows}") + print(f" H-bar bounded: {h_bounded}") + + env.close() + + if r_oscillates and v_grows and h_bounded: + print(" -> PASS: CW dynamics correct") + return True + else: + failures = [] + if not r_oscillates: failures.append("R-bar doesn't oscillate") + if not v_grows: failures.append("V-bar doesn't drift") + if not h_bounded: failures.append("H-bar not bounded") + print(f" -> FAIL: {', '.join(failures)}") + return False + + +def test_7_docking(): + """TEST 7: Docking mechanics. + + A simple controller should be able to dock successfully from 30-50m. + """ + print("\n" + "="*60) + print("TEST 7: Docking mechanics") + print("="*60) + + def smart_action(obs): + rel_pos = obs[0:3] * 100.0 + rel_vel = obs[3:6] * 2.0 + dist = obs[6] * 100.0 + + dir_to_station = -rel_pos / (dist + 1e-10) + desired_vel_mag = min(0.3, max(0.1, dist * 0.02)) + desired_vel = dir_to_station * desired_vel_mag + vel_error = desired_vel - rel_vel + + gain = 4.0 + thrust = vel_error * gain + thrust = np.clip(thrust, -1, 1) + + def to_discrete(x): + if x < -0.75: return 0 + elif x < -0.25: return 1 + elif x < 0.25: return 2 + elif x < 0.75: return 3 + else: return 4 + + return np.array([[to_discrete(thrust[1]), to_discrete(thrust[0]), to_discrete(thrust[2])]], dtype=np.int32) + + successes = 0 + n_tests = 10 + + for seed in range(n_tests): + env = OrbitalDock(num_envs=1, difficulty=0.0) + obs, _ = env.reset(seed=seed) + + for step in range(200): + action = smart_action(obs[0]) + obs, rewards, terminals, _, _ = env.step(action) + + if terminals[0]: + if rewards[0] > 5.0: + successes += 1 + break + + env.close() + + dock_rate = successes / n_tests + print(f" Dock rate: {successes}/{n_tests} = {100*dock_rate:.0f}%") + + if dock_rate >= 0.8: + print(" -> PASS: Docking works (>= 80% success)") + return True + else: + print(f" -> FAIL: Docking unreliable ({100*dock_rate:.0f}% success)") + return False + + +def test_8_fuel_accounting(): + """TEST 8: Fuel accounting. + + Fuel should decrease when thrusting and remain constant when not. + """ + print("\n" + "="*60) + print("TEST 8: Fuel accounting") + print("="*60) + + env = OrbitalDock(num_envs=1, difficulty=0.5, max_steps=500) + obs, _ = env.reset(seed=999) + + initial_fuel = obs[0, 8] + + # Coast - fuel should stay same + no_thrust = np.array([[2, 2, 2]], dtype=np.int32) + for _ in range(10): + obs, _, terminals, _, _ = env.step(no_thrust) + if terminals[0]: + break + + fuel_after_coast = obs[0, 8] + coast_change = abs(fuel_after_coast - initial_fuel) + + print(f" Initial fuel: {initial_fuel:.4f}") + print(f" Fuel after coast: {fuel_after_coast:.4f}") + print(f" Coast fuel change: {coast_change:.6f}") + + # Thrust in radial direction (away from station to avoid docking) + radial_out = np.array([[2, 4, 2]], dtype=np.int32) + fuel_before_thrust = fuel_after_coast + + for _ in range(20): + obs, _, terminals, _, _ = env.step(radial_out) + if terminals[0]: + break + + fuel_after_thrust = obs[0, 8] + thrust_change = fuel_before_thrust - fuel_after_thrust + + print(f" Fuel after thrust: {fuel_after_thrust:.4f}") + print(f" Thrust fuel change: {thrust_change:.4f}") + + env.close() + + coast_ok = coast_change < 0.001 + thrust_ok = thrust_change > 0.001 + + if coast_ok and thrust_ok: + print(" -> PASS: Fuel accounting correct") + return True + else: + if not coast_ok: + print(f" -> FAIL: Fuel changed during coast ({coast_change:.6f})") + if not thrust_ok: + print(f" -> FAIL: Fuel didn't decrease during thrust ({thrust_change:.4f})") + return False + + +def test_9_observation_bounds(): + """TEST 9: Observation bounds. + + At d=0 (30-50m starting distance), observations should be in [-1, 1]. + """ + print("\n" + "="*60) + print("TEST 9: Observation bounds") + print("="*60) + + all_obs = [] + + for seed in range(10): + env = OrbitalDock(num_envs=1, difficulty=0.0) + obs, _ = env.reset(seed=seed) + all_obs.append(obs.copy()) + + for step in range(50): + action = np.random.randint(0, 5, (1, 3), dtype=np.int32) + obs, _, terminals, _, _ = env.step(action) + all_obs.append(obs.copy()) + if terminals[0]: + break + + env.close() + + all_obs = np.concatenate(all_obs, axis=0) + + min_val = all_obs.min() + max_val = all_obs.max() + + print(f" Observation range at d=0: [{min_val:.4f}, {max_val:.4f}]") + print(f" Expected range: approximately [-1, 1]") + + # Check per-dimension + obs_names = ['R-bar', 'V-bar', 'H-bar', 'rel_vr', 'rel_vv', 'rel_vh', + 'dist', 'closing', 'fuel', 'alt', 'phase', 'incl', 'node', 'time'] + + all_ok = True + for i, name in enumerate(obs_names): + obs_i = all_obs[:, i] + if obs_i.min() < -1.5 or obs_i.max() > 1.5: + print(f" {name}: [{obs_i.min():.4f}, {obs_i.max():.4f}] - out of range!") + all_ok = False + + if min_val >= -1.5 and max_val <= 1.5: + print(" -> PASS: All observations in [-1.5, 1.5]") + return True + else: + print(f" -> FAIL: Observations outside expected range") + return False + + +def test_10_termination_conditions(): + """TEST 10: Termination conditions. + + Test dock and timeout terminations. + """ + print("\n" + "="*60) + print("TEST 10: Termination conditions") + print("="*60) + + results = {} + + # 10a: Docking + print("\n 10a: Docking termination") + env = OrbitalDock(num_envs=1, difficulty=0.0) + obs, _ = env.reset(seed=42) + + def smart_action(obs): + rel_pos = obs[0:3] * 100.0 + rel_vel = obs[3:6] * 2.0 + dist = obs[6] * 100.0 + + dir_to_station = -rel_pos / (dist + 1e-10) + desired_vel_mag = min(0.3, max(0.1, dist * 0.02)) + desired_vel = dir_to_station * desired_vel_mag + vel_error = desired_vel - rel_vel + + gain = 4.0 + thrust = vel_error * gain + thrust = np.clip(thrust, -1, 1) + + def to_discrete(x): + if x < -0.75: return 0 + elif x < -0.25: return 1 + elif x < 0.25: return 2 + elif x < 0.75: return 3 + else: return 4 + + return np.array([[to_discrete(thrust[1]), to_discrete(thrust[0]), to_discrete(thrust[2])]], dtype=np.int32) + + for step in range(200): + action = smart_action(obs[0]) + obs, rewards, terminals, _, _ = env.step(action) + if terminals[0]: + break + + dock_reward = rewards[0] + print(f" Reward: {dock_reward:.2f}") + results['10a_dock'] = dock_reward > 5.0 + if results['10a_dock']: + print(" -> PASS: Positive dock reward") + else: + print(" -> FAIL: Expected positive reward") + env.close() + + # 10b: Timeout + print("\n 10b: Timeout termination") + env = OrbitalDock(num_envs=1, difficulty=0.0, max_steps=50) + obs, _ = env.reset(seed=999) + + no_thrust = np.array([[2, 2, 2]], dtype=np.int32) + + for step in range(100): + obs, rewards, terminals, _, _ = env.step(no_thrust) + if terminals[0]: + break + + print(f" Terminated at step {step+1}, reward: {rewards[0]:.4f}") + results['10b_timeout'] = step >= 49 + if results['10b_timeout']: + print(" -> PASS: Timeout at max_steps") + else: + print(f" -> FAIL: Terminated early at step {step+1}") + env.close() + + all_pass = all(results.values()) + return all_pass + + +def run_all_tests(): + """Run all verification tests.""" + print("\n" + "="*60) + print("ORBITAL DOCK VERIFICATION SUITE") + print("="*60) + + results = { + 'test_1_energy': test_1_energy_conservation(), + 'test_2_circular': test_2_circular_orbit_stability(), + 'test_3_relative': test_3_relative_frame_stability(), + 'test_4_hohmann': test_4_hohmann_transfer(), + 'test_5_vbar': test_5_vbar_stability(), + 'test_6_cw_dynamics': test_6_cw_dynamics(), + 'test_7_docking': test_7_docking(), + 'test_8_fuel': test_8_fuel_accounting(), + 'test_9_obs_bounds': test_9_observation_bounds(), + 'test_10_termination': test_10_termination_conditions(), + } + + print("\n" + "="*60) + print("SUMMARY") + print("="*60) + + passed = sum(results.values()) + total = len(results) + + for name, result in results.items(): + status = "PASS" if result else "FAIL" + print(f" {name}: {status}") + + print(f"\nTotal: {passed}/{total} tests passed") + + if passed == total: + print("\nALL TESTS PASSED!") + return True + else: + print(f"\n{total - passed} TESTS FAILED") + return False + + +if __name__ == '__main__': + run_all_tests() From 640d0285088db4d73795a1a5e9fef269bf08aec9 Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Sun, 1 Feb 2026 21:37:57 +0100 Subject: [PATCH 04/16] increase thrust for action responsiveness, velocity shaping, increased closing velocity --- pufferlib/config/ocean/orbital_dock.ini | 17 ++- pufferlib/ocean/orbital_dock/orbital_dock.h | 146 +++++++++++++------ pufferlib/ocean/orbital_dock/orbital_dock.py | 20 ++- 3 files changed, 123 insertions(+), 60 deletions(-) diff --git a/pufferlib/config/ocean/orbital_dock.ini b/pufferlib/config/ocean/orbital_dock.ini index 89a2682a97..27229943dd 100644 --- a/pufferlib/config/ocean/orbital_dock.ini +++ b/pufferlib/config/ocean/orbital_dock.ini @@ -20,16 +20,16 @@ render_mode = "None" mu = 3.986e14 station_radius = 6.771e6 dt = 1.0 -max_thrust = 500.0 +max_thrust = 5000.0 mass = 10000.0 fuel_budget = 100.0 -max_steps = 2000 +max_steps = 500 dock_dist = 5.0 dock_speed = 0.5 -difficulty = 0.0 +difficulty = -1.0 reward_dock = 10.0 -reward_dist_shaping = 0.01 -reward_closing = 0.1 +reward_dist_shaping = 0.1 +reward_closing = 0.0 reward_vel_match = 1.0 reward_fuel_penalty = 0.01 reward_crash = 5.0 @@ -40,17 +40,18 @@ reward_node_timing = 0.0 [train] device = mps -learning_rate = 3e-4 +learning_rate = 5e-4 batch_size = auto minibatch_size = 4096 update_epochs = 4 gamma = 0.99 gae_lambda = 0.95 clip_coef = 0.2 -ent_coef = 0.01 +ent_coef = 0.001 vf_coef = 0.5 +vf_clip_coef = 10.0 max_grad_norm = 0.5 -total_timesteps = 100_000_000 +total_timesteps = 50_000_000 checkpoint_interval = 200 bptt_horizon = 64 use_rnn = false diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.h b/pufferlib/ocean/orbital_dock/orbital_dock.h index 117fdaff7e..ebb5b311ab 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.h +++ b/pufferlib/ocean/orbital_dock/orbital_dock.h @@ -141,6 +141,7 @@ typedef struct { double fuel; // Remaining delta-v (m/s) double init_dist; // Initial distance for normalization double prev_dist; // Previous distance for shaping + double prev_speed; // Previous relative speed for velocity shaping int step_count; int max_steps; @@ -410,18 +411,40 @@ void c_reset(OrbitalDock* env) { Vec3d r_hat, v_hat, h_hat; compute_lvlh(t_pos, t_vel, &r_hat, &v_hat, &h_hat); - // === APPROACH DIRECTION === - // At difficulty=0: start 30-50m away, close enough to dock without orbital transfers - // but far enough that Coriolis shows up and agent learns real corrections - // At difficulty=1: start further with velocity, requiring real orbital maneuvers - double approach_dist = 30.0 + 20.0 * rndf(env) + d * 200.0 * rndf(env); // 30-50m at d=0, up to 250m at d=1 + // === APPROACH DISTANCE === + // Design constraint: optimal first action must depend on state + // No constant policy should achieve >50% dock rate + // d<-0.5: 5-8m with 0-1.5 m/s closing (must brake if fast, thrust if slow) + // d<0.05: 8-15m with 0-2.0 m/s closing (longer planning horizon) + // d<0.15: 15-30m (2-axis corrections) + // d<0.3: 50-200m (full 3-axis control) + // d>=0.4: 1-5km (orbital transfers) + double approach_dist; + if (d < -0.5) { + approach_dist = 30.0 + 20.0 * rndf(env); // 30-50m at d=-1 (spec) + } else if (d < 0.05) { + approach_dist = 8.0 + 7.0 * rndf(env); // 8-15m at d=0 + } else if (d < 0.15) { + approach_dist = 15.0 + 15.0 * rndf(env); // 15-30m at d~0.1 + } else if (d < 0.3) { + approach_dist = 50.0 + 150.0 * rndf(env); // 50-200m at d~0.2 + } else { + approach_dist = 1000.0 + 4000.0 * d * rndf(env); // 1-5km at d>=0.4 + } - // Direction: random on sphere, but at d=0 biased toward V-bar (simpler dynamics) + // Direction: random on sphere, but at low difficulty biased toward V-bar double theta = 2.0 * M_PI * rndf(env); double phi = acos(2.0 * rndf(env) - 1.0); // At low difficulty, flatten toward V-bar (equatorial plane in spherical coords) - if (d < 0.5) { + // d < -0.5: Pure V-bar approach (phi = 90°, along prograde direction) + // d = 0: Pure V-bar approach + // d = 0.5: Full random direction + if (d < -0.5) { + // At d=-1: Pure V-bar (prograde) approach - chaser behind station + phi = M_PI / 2.0; // Exactly on V-bar + theta = M_PI; // Negative V-bar direction (chaser behind station) + } else if (d < 0.5) { phi = M_PI/2.0 + (phi - M_PI/2.0) * d * 2.0; // At d=0, phi=90° (pure V-bar) } @@ -435,13 +458,35 @@ void c_reset(OrbitalDock* env) { env->cx = c_pos.x; env->cy = c_pos.y; env->cz = c_pos.z; // === INITIAL VELOCITY === - // At difficulty=0: start CO-MOVING (zero relative velocity) - // This means the agent must actively thrust to dock, but the dynamics are simple - // At difficulty=1: add velocity perturbations requiring correction + // At d<-0.5: Zero relative velocity - agent MUST thrust to dock + // At d=0: Start with closing velocity toward station (0.1-0.3 m/s) + // This makes random exploration likely to stumble into dock zone + // At higher d: Add velocity perturbations requiring correction Vec3d c_vel = t_vel; // Start co-moving with station - // At higher difficulty, add velocity perturbations - if (d > 0.1) { + if (d < -0.5) { + // At d=-1: 0-4.0 m/s closing velocity + // Slow starts (<0.5 m/s): clean dock without braking + // Medium starts (0.5-1.0 m/s): rough dock without braking + // Fast starts (>1.0 m/s): crash without braking - MUST brake + double closing_speed = 4.0 * rndf(env); // 0-4.0 m/s + double vr_closing = -lvlh_r / approach_dist * closing_speed; + double vv_closing = -lvlh_v / approach_dist * closing_speed; + double vh_closing = -lvlh_h / approach_dist * closing_speed; + c_vel = add3d(c_vel, scale3d(r_hat, vr_closing)); + c_vel = add3d(c_vel, scale3d(v_hat, vv_closing)); + c_vel = add3d(c_vel, scale3d(h_hat, vh_closing)); + } else if (d < 0.05) { + // At d=0: 0-2.0 m/s closing velocity, wider range + double closing_speed = 2.0 * rndf(env); // 0-2.0 m/s + double vr_closing = -lvlh_r / approach_dist * closing_speed; + double vv_closing = -lvlh_v / approach_dist * closing_speed; + double vh_closing = -lvlh_h / approach_dist * closing_speed; + c_vel = add3d(c_vel, scale3d(r_hat, vr_closing)); + c_vel = add3d(c_vel, scale3d(v_hat, vv_closing)); + c_vel = add3d(c_vel, scale3d(h_hat, vh_closing)); + } else if (d > 0.1) { + // At higher difficulty, add velocity perturbations double vel_mag = d * 0.5 * rndf(env); // up to 0.5 m/s at d=1 // Random direction perturbation double vtheta = 2.0 * M_PI * rndf(env); @@ -456,9 +501,11 @@ void c_reset(OrbitalDock* env) { // Initialize fuel and distance tracking env->fuel = env->fuel_budget; Vec3d rel = sub3d(vec3d(env->cx, env->cy, env->cz), vec3d(env->tx, env->ty, env->tz)); + Vec3d rel_vel = sub3d(vec3d(env->cvx, env->cvy, env->cvz), vec3d(env->tvx, env->tvy, env->tvz)); env->init_dist = norm3d(rel); if (env->init_dist < 1.0) env->init_dist = 1.0; // Prevent division by zero env->prev_dist = env->init_dist; + env->prev_speed = norm3d(rel_vel); compute_observations(env); } @@ -536,54 +583,56 @@ void c_step(OrbitalDock* env) { double rel_speed = norm3d(rel_vel); double c_alt = norm3d(c_pos) - env->earth_radius; - int docked = (dist < env->dock_dist) && (rel_speed < env->dock_speed); - int crashed = (dist < env->dock_dist) && (rel_speed >= env->dock_speed); int deorbited = (c_alt < env->deorbit_alt); int escaped = (c_alt > env->escape_alt); int timeout = (env->step_count >= env->max_steps); // 7. Compute rewards - double reward = fuel_penalty; - - // Distance shaping: reward for getting closer - this is the primary learning signal - double dist_delta = env->prev_dist - dist; // positive when closing - reward += env->rw_dist_shaping * dist_delta; // 1m closer = +0.01 reward at default - - // Closing velocity reward: reward for having velocity toward target - double closing_speed = (dist > 1e-10) ? -dot3d(normalize3d(rel_pos), rel_vel) : 0.0; - reward += env->rw_closing * closing_speed; // 1 m/s closing = +0.05 reward at default - - // Penalty for diverging (negative closing speed) - helps prevent running away - if (closing_speed < 0) { - reward += 0.02 * closing_speed; // Extra penalty for moving away - } + // Clean 4-component reward structure: + // - Step penalty: encourages finishing quickly + // - Distance shaping: guides toward target + // - Fuel penalty: encourages efficiency + // - Terminal rewards: graduated docking quality - // Proximity bonus: stronger reward as we get very close (exponential) - double proximity_bonus = exp(-dist / 200.0); // peaks at 1.0 when at target, ~0.6 at 100m - reward += env->rw_vel_match * proximity_bonus * 0.2; + double reward = 0.0; - // Velocity matching shaping: reward for low relative velocity when close - if (dist < 500.0) { // Only matters when close - double vel_match_bonus = (1.0 - fmin(1.0, rel_speed / 5.0)) * (1.0 - dist / 500.0); - reward += env->rw_vel_match * vel_match_bonus * 0.05; - } + // Step penalty: -0.005/step = -10.0 over 2000 steps (makes timeout costly) + reward -= 0.005; - // Plane alignment shaping (small bonus for reducing inclination difference) - Vec3d c_h = normalize3d(cross3d(c_pos, c_vel)); - Vec3d t_h = vec3d(env->t_hx, env->t_hy, env->t_hz); - double cos_incl = fmax(-1.0, fmin(1.0, dot3d(c_h, t_h))); - double incl_alignment = (1.0 + cos_incl) / 2.0; // 0 when perpendicular, 1 when aligned - reward += env->rw_plane_align * incl_alignment; - - // Terminal rewards - if (docked) { - reward += env->rw_dock; + // Distance shaping: reward for getting closer (potential-based) + double dist_delta = env->prev_dist - dist; // positive when closing + reward += env->rw_dist_shaping * dist_delta; + + // Velocity shaping: reward for reducing relative speed (potential-based) + // This creates a "funnel" - approach but slow down as you get close + double speed_delta = env->prev_speed - rel_speed; // positive when slowing + reward += env->rw_vel_match * speed_delta; + + // Fuel penalty (already computed above) + reward += fuel_penalty; + + // Terminal rewards - graduated docking quality + // dock_clean: dist < 5m, speed < 0.5 m/s -> +10.0 + // dock_rough: dist < 5m, speed 0.5-1.0 m/s -> +3.0 + // crash: dist < 5m, speed >= 1.0 m/s -> -5.0 + int dock_clean = (dist < env->dock_dist) && (rel_speed < env->dock_speed); + int dock_rough = (dist < env->dock_dist) && (rel_speed >= env->dock_speed) && (rel_speed < 1.0); + int crash_dock = (dist < env->dock_dist) && (rel_speed >= 1.0); + + if (dock_clean) { + reward += env->rw_dock; // +10.0 env->terminals[0] = 1; env->log.dock_success += 1.0f; env->log.final_distance += (float)dist; env->log.final_rel_speed += (float)rel_speed; - } else if (crashed) { - reward -= env->rw_crash; + } else if (dock_rough) { + reward += 3.0; // Rough dock - acceptable + env->terminals[0] = 1; + env->log.dock_success += 0.5f; // Count as partial success + env->log.final_distance += (float)dist; + env->log.final_rel_speed += (float)rel_speed; + } else if (crash_dock) { + reward -= 5.0; // Crash - too fast env->terminals[0] = 1; env->log.crash_rate += 1.0f; env->log.final_distance += (float)dist; @@ -609,6 +658,7 @@ void c_step(OrbitalDock* env) { env->rewards[0] = (float)reward; env->prev_dist = dist; + env->prev_speed = rel_speed; // Update log env->log.episode_return += (float)reward; diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.py b/pufferlib/ocean/orbital_dock/orbital_dock.py index a7fd1c7562..bc33409406 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.py +++ b/pufferlib/ocean/orbital_dock/orbital_dock.py @@ -35,15 +35,15 @@ def __init__( max_thrust=500.0, mass=10000.0, fuel_budget=100.0, - max_steps=2000, + max_steps=50, # Docking conditions dock_dist=5.0, dock_speed=0.5, - # Difficulty (0.0 = simple starting conditions) - difficulty=0.0, + # Difficulty (-1.0 = trivial 5m start for proving PPO works) + difficulty=-1.0, # Reward weights reward_dock=10.0, - reward_dist_shaping=0.01, + reward_dist_shaping=0.1, reward_closing=0.1, reward_vel_match=1.0, reward_fuel_penalty=0.01, @@ -72,6 +72,7 @@ def __init__( self.num_agents = num_envs self.report_interval = report_interval self.tick = 0 + self.difficulty = difficulty super().__init__(buf) @@ -116,6 +117,17 @@ def reset(self, seed=0): return self.observations, [] def step(self, actions): + # Action masking for curriculum learning: + # At low difficulty, mask radial/normal axes to zero thrust + # This reduces effective action space from 125 to 5 (prograde only) + if self.difficulty < 0.1: + actions = actions.copy() # Don't modify original + actions[:, 1] = 2 # radial = 0 (no thrust) + actions[:, 2] = 2 # normal = 0 (no thrust) + elif self.difficulty < 0.2: + actions = actions.copy() + actions[:, 2] = 2 # normal = 0 (only prograde + radial) + self.actions[:] = actions self.tick += 1 binding.vec_step(self.c_envs) From 73cf49fe02b67f1a78e4471aa00fb41b0d12caf2 Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Thu, 5 Feb 2026 01:12:08 +0100 Subject: [PATCH 05/16] reduce learning rate --- pufferlib/config/ocean/orbital_dock.ini | 10 +- pufferlib/ocean/orbital_dock/binding.c | 7 + pufferlib/ocean/orbital_dock/orbital_dock.h | 213 +++++++++---------- pufferlib/ocean/orbital_dock/orbital_dock.py | 2 +- 4 files changed, 113 insertions(+), 119 deletions(-) diff --git a/pufferlib/config/ocean/orbital_dock.ini b/pufferlib/config/ocean/orbital_dock.ini index 27229943dd..9ed6036d27 100644 --- a/pufferlib/config/ocean/orbital_dock.ini +++ b/pufferlib/config/ocean/orbital_dock.ini @@ -28,7 +28,7 @@ dock_dist = 5.0 dock_speed = 0.5 difficulty = -1.0 reward_dock = 10.0 -reward_dist_shaping = 0.1 +reward_dist_shaping = 1.0 reward_closing = 0.0 reward_vel_match = 1.0 reward_fuel_penalty = 0.01 @@ -40,15 +40,15 @@ reward_node_timing = 0.0 [train] device = mps -learning_rate = 5e-4 +learning_rate = 3e-4 batch_size = auto minibatch_size = 4096 update_epochs = 4 gamma = 0.99 -gae_lambda = 0.95 +gae_lambda = 0.9 clip_coef = 0.2 -ent_coef = 0.001 -vf_coef = 0.5 +ent_coef = 0.02 +vf_coef = 1.0 vf_clip_coef = 10.0 max_grad_norm = 0.5 total_timesteps = 50_000_000 diff --git a/pufferlib/ocean/orbital_dock/binding.c b/pufferlib/ocean/orbital_dock/binding.c index f9b1b0b5d3..f073e1569a 100644 --- a/pufferlib/ocean/orbital_dock/binding.c +++ b/pufferlib/ocean/orbital_dock/binding.c @@ -44,6 +44,12 @@ static int my_init(Env* env, PyObject* args, PyObject* kwargs) { env->rw_plane_align = unpack(kwargs, "reward_plane_align"); env->rw_node_timing = unpack(kwargs, "reward_node_timing"); + // Curriculum: start at stage 0 (free docks) + env->curriculum_stage = 0; + env->curriculum_docks = 0; + env->curriculum_episodes = 0; + env->curriculum_window = 500; // Check every 500 episodes + return 0; } @@ -58,5 +64,6 @@ static int my_log(PyObject* dict, Log* log) { assign_to_dict(dict, "fuel_used", log->fuel_used); assign_to_dict(dict, "final_distance", log->final_distance); assign_to_dict(dict, "final_rel_speed", log->final_rel_speed); + assign_to_dict(dict, "curriculum_stage", log->curriculum_stage); return 0; } diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.h b/pufferlib/ocean/orbital_dock/orbital_dock.h index ebb5b311ab..ff26b60de5 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.h +++ b/pufferlib/ocean/orbital_dock/orbital_dock.h @@ -4,8 +4,13 @@ #include #include #include +#include #include "raylib.h" +// Debug: print first N episodes (set to 0 to disable) +static int g_debug_episodes = 0; +#define DEBUG_MAX_EPISODES 0 + #ifndef M_PI #define M_PI 3.14159265358979323846 #endif @@ -81,6 +86,7 @@ typedef struct { float fuel_used; float final_distance; float final_rel_speed; + float curriculum_stage; float n; // Required as last field } Log; @@ -184,6 +190,12 @@ typedef struct { // RNG state unsigned int rng_state; + // Curriculum state + int curriculum_stage; // 0=free docks, 1=easy, 2=medium, 3=full + int curriculum_docks; // Dock count in current window + int curriculum_episodes; // Episode count in current window + int curriculum_window; // Window size for advancement check + // Render client (NULL if not rendering) Client *client; } OrbitalDock; @@ -202,8 +214,8 @@ static inline unsigned int xorshift32(unsigned int* state) { } static inline double rndf(OrbitalDock* env) { - (void)env; // unused, using global rand() - return (double)rand() / (double)RAND_MAX; + // Use xorshift32 for better distribution with sequential seeds + return (double)xorshift32(&env->rng_state) / (double)0xFFFFFFFF; } static inline double rndf_range(OrbitalDock* env, double min, double max) { @@ -389,6 +401,11 @@ static void compute_observations(OrbitalDock* env) { void c_reset(OrbitalDock* env) { env->step_count = 0; + // Initialize xorshift RNG from global rand() (which has been seeded by vec_reset) + // Use multiple rand() calls to get better entropy + env->rng_state = (unsigned int)rand() ^ ((unsigned int)rand() << 15); + if (env->rng_state == 0) env->rng_state = 1; // xorshift needs non-zero state + // Station in circular orbit at configured radius double r = env->station_radius; double v_circ = sqrt(env->mu / r); @@ -400,101 +417,33 @@ void c_reset(OrbitalDock* env) { env->t_hx = 0; env->t_hy = 0; env->t_hz = 1.0; // Angular momentum: +Z env->t_radius = r; - // Scale randomization by difficulty - // At difficulty=0: Simple scenarios - random approach from various directions - // At difficulty=1: Full 3D orbital mechanics with large separations - double d = env->difficulty; - // Get station's LVLH basis vectors Vec3d t_pos = vec3d(env->tx, env->ty, env->tz); Vec3d t_vel = vec3d(env->tvx, env->tvy, env->tvz); Vec3d r_hat, v_hat, h_hat; compute_lvlh(t_pos, t_vel, &r_hat, &v_hat, &h_hat); - // === APPROACH DISTANCE === - // Design constraint: optimal first action must depend on state - // No constant policy should achieve >50% dock rate - // d<-0.5: 5-8m with 0-1.5 m/s closing (must brake if fast, thrust if slow) - // d<0.05: 8-15m with 0-2.0 m/s closing (longer planning horizon) - // d<0.15: 15-30m (2-axis corrections) - // d<0.3: 50-200m (full 3-axis control) - // d>=0.4: 1-5km (orbital transfers) - double approach_dist; - if (d < -0.5) { - approach_dist = 30.0 + 20.0 * rndf(env); // 30-50m at d=-1 (spec) - } else if (d < 0.05) { - approach_dist = 8.0 + 7.0 * rndf(env); // 8-15m at d=0 - } else if (d < 0.15) { - approach_dist = 15.0 + 15.0 * rndf(env); // 15-30m at d~0.1 - } else if (d < 0.3) { - approach_dist = 50.0 + 150.0 * rndf(env); // 50-200m at d~0.2 - } else { - approach_dist = 1000.0 + 4000.0 * d * rndf(env); // 1-5km at d>=0.4 - } - - // Direction: random on sphere, but at low difficulty biased toward V-bar - double theta = 2.0 * M_PI * rndf(env); - double phi = acos(2.0 * rndf(env) - 1.0); - - // At low difficulty, flatten toward V-bar (equatorial plane in spherical coords) - // d < -0.5: Pure V-bar approach (phi = 90°, along prograde direction) - // d = 0: Pure V-bar approach - // d = 0.5: Full random direction - if (d < -0.5) { - // At d=-1: Pure V-bar (prograde) approach - chaser behind station - phi = M_PI / 2.0; // Exactly on V-bar - theta = M_PI; // Negative V-bar direction (chaser behind station) - } else if (d < 0.5) { - phi = M_PI/2.0 + (phi - M_PI/2.0) * d * 2.0; // At d=0, phi=90° (pure V-bar) - } + // === PHASE A: PROGRADE-ONLY APPROACH === + // Easy distribution that achieved 41% dock rate (vs 29% random) + // Heavily biased toward low velocity, short distance + double u = rndf(env); + double closing_speed = 0.3 + 0.7 * u * u; // Biased [0.3, 1.0] m/s + double approach_dist = 5.0 + 10.0 * rndf(env); // [5, 15] m - double lvlh_r = approach_dist * cos(phi); - double lvlh_v = approach_dist * sin(phi) * cos(theta); - double lvlh_h = approach_dist * sin(phi) * sin(theta); + // Pure V-bar approach: chaser behind station along prograde axis + double lvlh_r = 0.0; + double lvlh_v = -approach_dist; // Negative = behind station + double lvlh_h = 0.0; // Convert LVLH offset to inertial position Vec3d offset = add3d(add3d(scale3d(r_hat, lvlh_r), scale3d(v_hat, lvlh_v)), scale3d(h_hat, lvlh_h)); Vec3d c_pos = add3d(t_pos, offset); env->cx = c_pos.x; env->cy = c_pos.y; env->cz = c_pos.z; - // === INITIAL VELOCITY === - // At d<-0.5: Zero relative velocity - agent MUST thrust to dock - // At d=0: Start with closing velocity toward station (0.1-0.3 m/s) - // This makes random exploration likely to stumble into dock zone - // At higher d: Add velocity perturbations requiring correction - Vec3d c_vel = t_vel; // Start co-moving with station - - if (d < -0.5) { - // At d=-1: 0-4.0 m/s closing velocity - // Slow starts (<0.5 m/s): clean dock without braking - // Medium starts (0.5-1.0 m/s): rough dock without braking - // Fast starts (>1.0 m/s): crash without braking - MUST brake - double closing_speed = 4.0 * rndf(env); // 0-4.0 m/s - double vr_closing = -lvlh_r / approach_dist * closing_speed; - double vv_closing = -lvlh_v / approach_dist * closing_speed; - double vh_closing = -lvlh_h / approach_dist * closing_speed; - c_vel = add3d(c_vel, scale3d(r_hat, vr_closing)); - c_vel = add3d(c_vel, scale3d(v_hat, vv_closing)); - c_vel = add3d(c_vel, scale3d(h_hat, vh_closing)); - } else if (d < 0.05) { - // At d=0: 0-2.0 m/s closing velocity, wider range - double closing_speed = 2.0 * rndf(env); // 0-2.0 m/s - double vr_closing = -lvlh_r / approach_dist * closing_speed; - double vv_closing = -lvlh_v / approach_dist * closing_speed; - double vh_closing = -lvlh_h / approach_dist * closing_speed; - c_vel = add3d(c_vel, scale3d(r_hat, vr_closing)); - c_vel = add3d(c_vel, scale3d(v_hat, vv_closing)); - c_vel = add3d(c_vel, scale3d(h_hat, vh_closing)); - } else if (d > 0.1) { - // At higher difficulty, add velocity perturbations - double vel_mag = d * 0.5 * rndf(env); // up to 0.5 m/s at d=1 - // Random direction perturbation - double vtheta = 2.0 * M_PI * rndf(env); - double vphi = acos(2.0 * rndf(env) - 1.0); - c_vel = add3d(c_vel, scale3d(r_hat, vel_mag * cos(vphi))); - c_vel = add3d(c_vel, scale3d(v_hat, vel_mag * sin(vphi) * cos(vtheta))); - c_vel = add3d(c_vel, scale3d(h_hat, vel_mag * sin(vphi) * sin(vtheta))); - } + // Initial velocity: co-moving + closing velocity toward station + Vec3d c_vel = t_vel; + // Closing velocity is along +V-bar (toward station) + c_vel = add3d(c_vel, scale3d(v_hat, closing_speed)); env->cvx = c_vel.x; env->cvy = c_vel.y; env->cvz = c_vel.z; @@ -519,11 +468,13 @@ void c_step(OrbitalDock* env) { env->terminals[0] = 0; env->step_count++; - // 1. Get chaser LVLH basis - Vec3d c_pos = vec3d(env->cx, env->cy, env->cz); - Vec3d c_vel = vec3d(env->cvx, env->cvy, env->cvz); + // 1. Get STATION'S LVLH basis (not chaser's!) + // Actions must be in the same frame as observations for consistency. + // Otherwise "prograde" means different things to obs vs actions. + Vec3d t_pos = vec3d(env->tx, env->ty, env->tz); + Vec3d t_vel = vec3d(env->tvx, env->tvy, env->tvz); Vec3d r_hat, v_hat, h_hat; - compute_lvlh(c_pos, c_vel, &r_hat, &v_hat, &h_hat); + compute_lvlh(t_pos, t_vel, &r_hat, &v_hat, &h_hat); // 2. Convert discrete actions to thrust vector // Actions: [thrust_pro, thrust_rad, thrust_norm] each in {0,1,2,3,4} @@ -538,6 +489,10 @@ void c_step(OrbitalDock* env) { if (a_rad < 0) a_rad = 0; if (a_rad > 4) a_rad = 4; if (a_norm < 0) a_norm = 0; if (a_norm > 4) a_norm = 4; + // STAGE 1: Prograde only - mask radial and normal to neutral + a_rad = 2; // Force zero radial thrust + a_norm = 2; // Force zero normal thrust + double t_pro = thrust_levels[a_pro] * env->max_thrust; double t_rad = thrust_levels[a_rad] * env->max_thrust; double t_norm = thrust_levels[a_norm] * env->max_thrust; @@ -572,10 +527,11 @@ void c_step(OrbitalDock* env) { propagate_station(env); // 6. Compute termination conditions - Vec3d t_pos = vec3d(env->tx, env->ty, env->tz); - Vec3d t_vel = vec3d(env->tvx, env->tvy, env->tvz); - c_pos = vec3d(env->cx, env->cy, env->cz); - c_vel = vec3d(env->cvx, env->cvy, env->cvz); + // Re-read positions after integration + t_pos = vec3d(env->tx, env->ty, env->tz); + t_vel = vec3d(env->tvx, env->tvy, env->tvz); + Vec3d c_pos = vec3d(env->cx, env->cy, env->cz); + Vec3d c_vel = vec3d(env->cvx, env->cvy, env->cvz); Vec3d rel_pos = sub3d(c_pos, t_pos); Vec3d rel_vel = sub3d(c_vel, t_vel); @@ -588,28 +544,15 @@ void c_step(OrbitalDock* env) { int timeout = (env->step_count >= env->max_steps); // 7. Compute rewards - // Clean 4-component reward structure: - // - Step penalty: encourages finishing quickly - // - Distance shaping: guides toward target - // - Fuel penalty: encourages efficiency - // - Terminal rewards: graduated docking quality - double reward = 0.0; - // Step penalty: -0.005/step = -10.0 over 2000 steps (makes timeout costly) - reward -= 0.005; - - // Distance shaping: reward for getting closer (potential-based) - double dist_delta = env->prev_dist - dist; // positive when closing - reward += env->rw_dist_shaping * dist_delta; - - // Velocity shaping: reward for reducing relative speed (potential-based) - // This creates a "funnel" - approach but slow down as you get close - double speed_delta = env->prev_speed - rel_speed; // positive when slowing - reward += env->rw_vel_match * speed_delta; - - // Fuel penalty (already computed above) - reward += fuel_penalty; + // Quadratic state cost: penalizes being far AND being fast + // CAPPED per-step to prevent explosion when agent drifts far away + double dist_norm = dist / env->init_dist; + double speed_norm = rel_speed / 2.0; + double raw_cost = -0.1 * dist_norm * dist_norm - 0.1 * speed_norm * speed_norm; + double cost = fmax(raw_cost, -1.0); // Floor at -1 per step + reward += cost; // Terminal rewards - graduated docking quality // dock_clean: dist < 5m, speed < 0.5 m/s -> +10.0 @@ -632,7 +575,7 @@ void c_step(OrbitalDock* env) { env->log.final_distance += (float)dist; env->log.final_rel_speed += (float)rel_speed; } else if (crash_dock) { - reward -= 5.0; // Crash - too fast + reward -= env->rw_crash; // Crash - too fast, apply penalty env->terminals[0] = 1; env->log.crash_rate += 1.0f; env->log.final_distance += (float)dist; @@ -650,6 +593,7 @@ void c_step(OrbitalDock* env) { env->log.final_distance += (float)dist; env->log.final_rel_speed += (float)rel_speed; } else if (timeout) { + reward -= 3.0; // Timeout penalty - mission failed env->terminals[0] = 1; env->log.timeout_rate += 1.0f; env->log.final_distance += (float)dist; @@ -660,12 +604,55 @@ void c_step(OrbitalDock* env) { env->prev_dist = dist; env->prev_speed = rel_speed; + // DEBUG: Print first N episodes + if (g_debug_episodes < DEBUG_MAX_EPISODES) { + // Get raw LVLH values (before scaling) for clarity + Vec3d rel_pos_dbg = sub3d(c_pos, t_pos); + Vec3d rel_vel_dbg = sub3d(c_vel, t_vel); + Vec3d r_hat_dbg, v_hat_dbg, h_hat_dbg; + compute_lvlh(t_pos, t_vel, &r_hat_dbg, &v_hat_dbg, &h_hat_dbg); + double rel_r_dbg = dot3d(rel_pos_dbg, r_hat_dbg); + double rel_v_dbg = dot3d(rel_pos_dbg, v_hat_dbg); + double rel_h_dbg = dot3d(rel_pos_dbg, h_hat_dbg); + double rel_vr_dbg = dot3d(rel_vel_dbg, r_hat_dbg); + double rel_vv_dbg = dot3d(rel_vel_dbg, v_hat_dbg); + double rel_vh_dbg = dot3d(rel_vel_dbg, h_hat_dbg); + + const char* terminal_str = ""; + if (dock_clean) terminal_str = "DOCK_CLEAN"; + else if (dock_rough) terminal_str = "DOCK_ROUGH"; + else if (crash_dock) terminal_str = "CRASH"; + else if (deorbited) terminal_str = "DEORBIT"; + else if (escaped) terminal_str = "ESCAPE"; + else if (timeout) terminal_str = "TIMEOUT"; + + printf("EP%d STEP%d | obs:[%.2f, %.2f, %.2f, %.2f, %.2f, %.2f] | " + "dist=%.2f spd=%.2f | action=%d | reward=%.4f | %s\n", + g_debug_episodes, env->step_count, + rel_r_dbg, rel_v_dbg, rel_h_dbg, // Position in meters + rel_vr_dbg, rel_vv_dbg, rel_vh_dbg, // Velocity in m/s + dist, rel_speed, + a_pro, // 0=full retro, 2=coast, 4=full prograde + reward, + terminal_str); + + if (env->terminals[0]) { + printf("--- END EPISODE %d ---\n\n", g_debug_episodes); + g_debug_episodes++; + } + } + // Update log env->log.episode_return += (float)reward; if (env->terminals[0]) { env->log.episode_length += (float)env->step_count; env->log.fuel_used += (float)(env->fuel_budget - env->fuel); env->log.n += 1.0f; + + // Curriculum tracking: count docks and episodes + // No curriculum - just reset + env->log.curriculum_stage += 0.0f; // Keep field for compatibility + c_reset(env); } diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.py b/pufferlib/ocean/orbital_dock/orbital_dock.py index bc33409406..464b0e5381 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.py +++ b/pufferlib/ocean/orbital_dock/orbital_dock.py @@ -32,7 +32,7 @@ def __init__( mu=3.986e14, station_radius=6.771e6, dt=1.0, - max_thrust=500.0, + max_thrust=5000.0, mass=10000.0, fuel_budget=100.0, max_steps=50, From db6f1c31911c473cb8c6174e17b5adffd2644ee5 Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Fri, 6 Feb 2026 00:17:02 +0100 Subject: [PATCH 06/16] hovell&ulrich velocity policy, global curriculum planning --- pufferlib/config/ocean/orbital_dock.ini | 48 +++-- pufferlib/ocean/orbital_dock/binding.c | 69 ++++++- pufferlib/ocean/orbital_dock/orbital_dock.h | 194 +++++++++++++------ pufferlib/ocean/orbital_dock/orbital_dock.py | 112 ++++++----- 4 files changed, 292 insertions(+), 131 deletions(-) diff --git a/pufferlib/config/ocean/orbital_dock.ini b/pufferlib/config/ocean/orbital_dock.ini index 9ed6036d27..bf2b5365ac 100644 --- a/pufferlib/config/ocean/orbital_dock.ini +++ b/pufferlib/config/ocean/orbital_dock.ini @@ -23,38 +23,44 @@ dt = 1.0 max_thrust = 5000.0 mass = 10000.0 fuel_budget = 100.0 -max_steps = 500 +max_steps = 200 +# Hierarchical velocity control (Hovell & Ulrich 2021) +kp = 0.5 +max_cmd_vel = 2.0 +# Docking conditions dock_dist = 5.0 dock_speed = 0.5 -difficulty = -1.0 -reward_dock = 10.0 -reward_dist_shaping = 1.0 -reward_closing = 0.0 -reward_vel_match = 1.0 -reward_fuel_penalty = 0.01 -reward_crash = 5.0 -reward_deorbit = 5.0 -reward_escape = 5.0 +difficulty = 0.0 +# Reward weights - scaled to fit within PufferLib's [-1, 1] reward clamp +# Per-step shaping: ~0.01-0.1, terminal rewards: ~1.0 +reward_dock = 1.0 +reward_dist_shaping = 0.1 +reward_closing = 0.5 +reward_vel_match = 0.0 +reward_fuel_penalty = 0.0 +reward_crash = 1.0 +reward_deorbit = 1.0 +reward_escape = 1.0 reward_plane_align = 0.0 reward_node_timing = 0.0 [train] device = mps -learning_rate = 3e-4 +learning_rate = 0.01 batch_size = auto minibatch_size = 4096 -update_epochs = 4 -gamma = 0.99 -gae_lambda = 0.9 -clip_coef = 0.2 -ent_coef = 0.02 -vf_coef = 1.0 -vf_clip_coef = 10.0 -max_grad_norm = 0.5 -total_timesteps = 50_000_000 +update_epochs = 1 +gamma = 0.9975 +gae_lambda = 0.96 +clip_coef = 0.06 +ent_coef = 0.002 +vf_coef = 2.0 +vf_clip_coef = 0.5 +max_grad_norm = 1.5 +total_timesteps = 200_000_000 checkpoint_interval = 200 bptt_horizon = 64 -use_rnn = false +use_rnn = true [sweep] downsample = 0 diff --git a/pufferlib/ocean/orbital_dock/binding.c b/pufferlib/ocean/orbital_dock/binding.c index f073e1569a..753bd5ba25 100644 --- a/pufferlib/ocean/orbital_dock/binding.c +++ b/pufferlib/ocean/orbital_dock/binding.c @@ -4,6 +4,65 @@ #define Env OrbitalDock #include "../env_binding.h" +// Global curriculum state (shared across all envs in process) +static int g_curriculum_stage = 0; +static int g_curriculum_docks = 0; +static int g_curriculum_episodes = 0; +static int g_consecutive_above = 0; // consecutive windows above target +static int g_consecutive_below = 0; // consecutive windows below demotion threshold +#define G_CURRICULUM_WINDOW 10000 // Check every 10K global episodes +#define G_ADVANCE_STREAK 3 // Require 3 consecutive windows above target +#define G_DEMOTE_STREAK 2 // Require 2 consecutive windows below threshold + +// Called from orbital_dock.h when an episode ends +void global_curriculum_update(OrbitalDock* env, int docked) { + g_curriculum_episodes++; + if (docked) { + g_curriculum_docks++; + } + + if (g_curriculum_episodes >= G_CURRICULUM_WINDOW) { + double dock_rate = (double)g_curriculum_docks / (double)g_curriculum_episodes; + double target_rate = CURRICULUM_PARAMS[g_curriculum_stage][5]; + + if (dock_rate >= target_rate && g_curriculum_stage < 3) { + g_consecutive_above++; + g_consecutive_below = 0; + printf("CURRICULUM: Stage %d streak %d/%d (dock_rate=%.1f%% >= target=%.1f%%)\n", + g_curriculum_stage, g_consecutive_above, G_ADVANCE_STREAK, + dock_rate * 100.0, target_rate * 100.0); + if (g_consecutive_above >= G_ADVANCE_STREAK) { + g_curriculum_stage++; + g_consecutive_above = 0; + printf("CURRICULUM: ADVANCED to stage %d\n", g_curriculum_stage); + } + fflush(stdout); + } else if (g_curriculum_stage > 0 && dock_rate < target_rate * 0.5) { + g_consecutive_below++; + g_consecutive_above = 0; + printf("CURRICULUM: Demote streak %d/%d (dock_rate=%.1f%% < %.1f%%)\n", + g_consecutive_below, G_DEMOTE_STREAK, + dock_rate * 100.0, target_rate * 50.0); + if (g_consecutive_below >= G_DEMOTE_STREAK) { + g_curriculum_stage--; + g_consecutive_below = 0; + printf("CURRICULUM: DEMOTED to stage %d\n", g_curriculum_stage); + } + fflush(stdout); + } else { + // In between — reset both streaks + g_consecutive_above = 0; + g_consecutive_below = 0; + } + + g_curriculum_docks = 0; + g_curriculum_episodes = 0; + } + + // Sync this env's stage with global + env->curriculum_stage = g_curriculum_stage; +} + static int my_init(Env* env, PyObject* args, PyObject* kwargs) { // Initialize render client to NULL env->client = NULL; @@ -16,6 +75,10 @@ static int my_init(Env* env, PyObject* args, PyObject* kwargs) { env->fuel_budget = unpack(kwargs, "fuel_budget"); env->max_steps = (int)unpack(kwargs, "max_steps"); + // Hierarchical velocity control parameters + env->kp = unpack(kwargs, "kp"); + env->max_cmd_vel = unpack(kwargs, "max_cmd_vel"); + // Docking conditions env->dock_dist = unpack(kwargs, "dock_dist"); env->dock_speed = unpack(kwargs, "dock_speed"); @@ -44,11 +107,11 @@ static int my_init(Env* env, PyObject* args, PyObject* kwargs) { env->rw_plane_align = unpack(kwargs, "reward_plane_align"); env->rw_node_timing = unpack(kwargs, "reward_node_timing"); - // Curriculum: start at stage 0 (free docks) - env->curriculum_stage = 0; + // Curriculum: sync with global stage + env->curriculum_stage = g_curriculum_stage; env->curriculum_docks = 0; env->curriculum_episodes = 0; - env->curriculum_window = 500; // Check every 500 episodes + env->curriculum_window = G_CURRICULUM_WINDOW; return 0; } diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.h b/pufferlib/ocean/orbital_dock/orbital_dock.h index ff26b60de5..16814007bc 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.h +++ b/pufferlib/ocean/orbital_dock/orbital_dock.h @@ -117,6 +117,7 @@ typedef struct Client { Trail trail; float scale; // meters per render unit + int last_step; // for tracking episode resets } Client; // ============================================================================ @@ -126,7 +127,7 @@ typedef struct Client { typedef struct { Log log; // Required field (first) float* observations; // Required field - 14 floats - int* actions; // Required field - 3 ints (MultiDiscrete) + float* actions; // Required field - 3 floats (continuous velocity commands) float* rewards; // Required field unsigned char* terminals; // Required field @@ -159,6 +160,10 @@ typedef struct { double dt; // Timestep (s) double fuel_budget; // Total delta-v budget (m/s) + // Hierarchical velocity control (Hovell & Ulrich 2021) + double kp; // P controller gain + double max_cmd_vel; // Max commanded velocity (m/s) + // Docking conditions double dock_dist; // Docking distance threshold (m) double dock_speed; // Docking speed threshold (m/s) @@ -376,16 +381,16 @@ static void compute_observations(OrbitalDock* env) { double pos_scale = 100.0; // 100m reference - 50m = 0.5, 100m = 1.0 double vel_scale = 2.0; // 2 m/s reference - 0.5 m/s = 0.25, 1 m/s = 0.5 - // Fill observation buffer (all normalized to approximately [-1, 1]) + // Fill observation buffer (clamped to declared bounds [-10, 10]) int idx = 0; - env->observations[idx++] = (float)(rel_r / pos_scale); // 0: rel_x (R-bar) - not clamped - env->observations[idx++] = (float)(rel_v / pos_scale); // 1: rel_y (V-bar) - env->observations[idx++] = (float)(rel_h / pos_scale); // 2: rel_z (H-bar) - env->observations[idx++] = (float)(rel_vr / vel_scale); // 3: rel_vx - env->observations[idx++] = (float)(rel_vv / vel_scale); // 4: rel_vy - env->observations[idx++] = (float)(rel_vh / vel_scale); // 5: rel_vz - env->observations[idx++] = (float)(dist / pos_scale); // 6: dist_norm - env->observations[idx++] = (float)(closing_speed / vel_scale); // 7: closing_speed + env->observations[idx++] = (float)fmax(-10.0, fmin(10.0, rel_r / pos_scale)); // 0: rel_x (R-bar) + env->observations[idx++] = (float)fmax(-10.0, fmin(10.0, rel_v / pos_scale)); // 1: rel_y (V-bar) + env->observations[idx++] = (float)fmax(-10.0, fmin(10.0, rel_h / pos_scale)); // 2: rel_z (H-bar) + env->observations[idx++] = (float)fmax(-10.0, fmin(10.0, rel_vr / vel_scale)); // 3: rel_vx + env->observations[idx++] = (float)fmax(-10.0, fmin(10.0, rel_vv / vel_scale)); // 4: rel_vy + env->observations[idx++] = (float)fmax(-10.0, fmin(10.0, rel_vh / vel_scale)); // 5: rel_vz + env->observations[idx++] = (float)fmin(10.0, dist / pos_scale); // 6: dist_norm (always positive) + env->observations[idx++] = (float)fmax(-10.0, fmin(10.0, closing_speed / vel_scale)); // 7: closing_speed env->observations[idx++] = (float)fmax(0.0, fmin(1.0, env->fuel / env->fuel_budget)); // 8: fuel_remaining env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, alt_diff)); // 9: orbit_alt_norm env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, phase_angle)); // 10: phase_angle @@ -394,6 +399,46 @@ static void compute_observations(OrbitalDock* env) { env->observations[idx++] = (float)fmax(0.0, fmin(1.0, 1.0 - (double)env->step_count / env->max_steps)); // 13: time_remaining } +// ============================================================================ +// Curriculum Learning +// ============================================================================ + +// Stage parameters: {dist_min, dist_max, vel_min, vel_max, offset_max, target_dock_rate} +static const double CURRICULUM_PARAMS[4][6] = { + {5.0, 20.0, 0.2, 0.6, 3.0, 0.40}, // Stage 0: Bootstrap + {15.0, 50.0, 0.3, 0.8, 5.0, 0.35}, // Stage 1: Extend range + {40.0, 150.0, 0.4, 1.2, 10.0, 0.30}, // Stage 2: Proximity ops (inner) + {50.0, 500.0, 0.5, 2.0, 20.0, 0.25}, // Stage 3: Proximity ops (full) +}; + +// Sample initial conditions with stage mixing (30% from previous stage) +static void sample_initial_conditions(OrbitalDock* env, + double* approach_dist, + double* closing_speed, + double* offset_max) { + int stage = env->curriculum_stage; + + // Stage mixing: 30% chance to sample from previous stage + // This prevents catastrophic forgetting during transitions + double stage_mix = rndf(env); + if (stage > 0 && stage_mix < 0.3) { + stage = stage - 1; // Sample from easier stage + } + + double dist_min = CURRICULUM_PARAMS[stage][0]; + double dist_max = CURRICULUM_PARAMS[stage][1]; + double vel_min = CURRICULUM_PARAMS[stage][2]; + double vel_max = CURRICULUM_PARAMS[stage][3]; + *offset_max = CURRICULUM_PARAMS[stage][4]; + + *approach_dist = dist_min + (dist_max - dist_min) * rndf(env); + *closing_speed = vel_min + (vel_max - vel_min) * rndf(env); +} + +// Global curriculum tracking - implemented in binding.c +// Uses shared state across all envs for stable advancement +void global_curriculum_update(OrbitalDock* env, int docked); + // ============================================================================ // Reset // ============================================================================ @@ -423,17 +468,18 @@ void c_reset(OrbitalDock* env) { Vec3d r_hat, v_hat, h_hat; compute_lvlh(t_pos, t_vel, &r_hat, &v_hat, &h_hat); - // === PHASE A: PROGRADE-ONLY APPROACH === - // Easy distribution that achieved 41% dock rate (vs 29% random) - // Heavily biased toward low velocity, short distance - double u = rndf(env); - double closing_speed = 0.3 + 0.7 * u * u; // Biased [0.3, 1.0] m/s - double approach_dist = 5.0 + 10.0 * rndf(env); // [5, 15] m + // === CURRICULUM-BASED INITIAL CONDITIONS === + double approach_dist, closing_speed, offset_max; + sample_initial_conditions(env, &approach_dist, &closing_speed, &offset_max); + + // Random offsets in R-bar and H-bar + double r_offset = (rndf(env) - 0.5) * 2.0 * offset_max; + double h_offset = (rndf(env) - 0.5) * 2.0 * offset_max; - // Pure V-bar approach: chaser behind station along prograde axis - double lvlh_r = 0.0; + // LVLH position: primarily V-bar (behind station), with offsets + double lvlh_r = r_offset; double lvlh_v = -approach_dist; // Negative = behind station - double lvlh_h = 0.0; + double lvlh_h = h_offset; // Convert LVLH offset to inertial position Vec3d offset = add3d(add3d(scale3d(r_hat, lvlh_r), scale3d(v_hat, lvlh_v)), scale3d(h_hat, lvlh_h)); @@ -456,6 +502,16 @@ void c_reset(OrbitalDock* env) { env->prev_dist = env->init_dist; env->prev_speed = norm3d(rel_vel); + // === DYNAMIC MAX_STEPS === + // Scale max_steps with initial distance so agent has time to reach station + // Base: 100 steps, plus 3 steps per meter of initial distance + int base_steps = 100; + int steps_per_meter = 3; + env->max_steps = base_steps + (int)(env->init_dist * steps_per_meter); + // At 20m: 100 + 60 = 160 steps + // At 100m: 100 + 300 = 400 steps + // At 500m: 100 + 1500 = 1600 steps + compute_observations(env); } @@ -469,38 +525,43 @@ void c_step(OrbitalDock* env) { env->step_count++; // 1. Get STATION'S LVLH basis (not chaser's!) - // Actions must be in the same frame as observations for consistency. - // Otherwise "prograde" means different things to obs vs actions. Vec3d t_pos = vec3d(env->tx, env->ty, env->tz); Vec3d t_vel = vec3d(env->tvx, env->tvy, env->tvz); Vec3d r_hat, v_hat, h_hat; compute_lvlh(t_pos, t_vel, &r_hat, &v_hat, &h_hat); - // 2. Convert discrete actions to thrust vector - // Actions: [thrust_pro, thrust_rad, thrust_norm] each in {0,1,2,3,4} - // Map to: {-100%, -50%, 0%, +50%, +100%} - double thrust_levels[5] = {-1.0, -0.5, 0.0, 0.5, 1.0}; - int a_pro = env->actions[0]; - int a_rad = env->actions[1]; - int a_norm = env->actions[2]; - - // Clamp actions to valid range - if (a_pro < 0) a_pro = 0; if (a_pro > 4) a_pro = 4; - if (a_rad < 0) a_rad = 0; if (a_rad > 4) a_rad = 4; - if (a_norm < 0) a_norm = 0; if (a_norm > 4) a_norm = 4; - - // STAGE 1: Prograde only - mask radial and normal to neutral - a_rad = 2; // Force zero radial thrust - a_norm = 2; // Force zero normal thrust - - double t_pro = thrust_levels[a_pro] * env->max_thrust; - double t_rad = thrust_levels[a_rad] * env->max_thrust; - double t_norm = thrust_levels[a_norm] * env->max_thrust; + // 2. Get current relative velocity in LVLH frame + Vec3d c_pos = vec3d(env->cx, env->cy, env->cz); + Vec3d c_vel = vec3d(env->cvx, env->cvy, env->cvz); + Vec3d rel_vel = sub3d(c_vel, t_vel); + double current_vel_r = dot3d(rel_vel, r_hat); + double current_vel_v = dot3d(rel_vel, v_hat); + double current_vel_h = dot3d(rel_vel, h_hat); + + // 3. Read desired velocity from continuous actions (clamp to bounds) + double desired_vel_r = fmax(-env->max_cmd_vel, fmin(env->max_cmd_vel, (double)env->actions[0])); + double desired_vel_v = fmax(-env->max_cmd_vel, fmin(env->max_cmd_vel, (double)env->actions[1])); + double desired_vel_h = fmax(-env->max_cmd_vel, fmin(env->max_cmd_vel, (double)env->actions[2])); + + // 4. P Controller: thrust = kp * (desired_vel - current_vel) + // Hovell & Ulrich (2021) Eq. (14): u_t = K_p * (v_t - x_dot_t) + double vel_error_r = desired_vel_r - current_vel_r; + double vel_error_v = desired_vel_v - current_vel_v; + double vel_error_h = desired_vel_h - current_vel_h; + + double thrust_r = env->kp * vel_error_r * env->mass; // F = m * a, a = kp * error + double thrust_v = env->kp * vel_error_v * env->mass; + double thrust_h = env->kp * vel_error_h * env->mass; + + // Clamp thrust to physical limits + thrust_r = fmax(-env->max_thrust, fmin(env->max_thrust, thrust_r)); + thrust_v = fmax(-env->max_thrust, fmin(env->max_thrust, thrust_v)); + thrust_h = fmax(-env->max_thrust, fmin(env->max_thrust, thrust_h)); // LVLH thrust vector -> inertial frame Vec3d thrust_lvlh = add3d( - add3d(scale3d(v_hat, t_pro), scale3d(r_hat, t_rad)), - scale3d(h_hat, t_norm) + add3d(scale3d(r_hat, thrust_r), scale3d(v_hat, thrust_v)), + scale3d(h_hat, thrust_h) ); // 3. Compute fuel usage (delta-v) @@ -530,11 +591,11 @@ void c_step(OrbitalDock* env) { // Re-read positions after integration t_pos = vec3d(env->tx, env->ty, env->tz); t_vel = vec3d(env->tvx, env->tvy, env->tvz); - Vec3d c_pos = vec3d(env->cx, env->cy, env->cz); - Vec3d c_vel = vec3d(env->cvx, env->cvy, env->cvz); + c_pos = vec3d(env->cx, env->cy, env->cz); + c_vel = vec3d(env->cvx, env->cvy, env->cvz); Vec3d rel_pos = sub3d(c_pos, t_pos); - Vec3d rel_vel = sub3d(c_vel, t_vel); + rel_vel = sub3d(c_vel, t_vel); double dist = norm3d(rel_pos); double rel_speed = norm3d(rel_vel); double c_alt = norm3d(c_pos) - env->earth_radius; @@ -543,16 +604,26 @@ void c_step(OrbitalDock* env) { int escaped = (c_alt > env->escape_alt); int timeout = (env->step_count >= env->max_steps); - // 7. Compute rewards + // 7. Compute rewards - Hovell & Ulrich (2021) style + // Key insight: progress reward + proximity-scaled velocity damping double reward = 0.0; - // Quadratic state cost: penalizes being far AND being fast - // CAPPED per-step to prevent explosion when agent drifts far away - double dist_norm = dist / env->init_dist; - double speed_norm = rel_speed / 2.0; - double raw_cost = -0.1 * dist_norm * dist_norm - 0.1 * speed_norm * speed_norm; - double cost = fmax(raw_cost, -1.0); // Floor at -1 per step - reward += cost; + // === Distance progress reward === + // Positive when getting closer, negative when moving away + // This is the PRIMARY learning signal - every step toward station is rewarded + double distance_progress = env->prev_dist - dist; + reward += env->rw_dist_shaping * distance_progress; + + // === Proximity-scaled velocity damping === + // Penalize speed MORE as you get closer to station + // Far away: move fast (low penalty). Close up: slow down (high penalty) + // Formula: -c1 * ||v|| / (||e|| + eta) + double eta = 0.1; // Prevents division by zero, smooths transition + double vel_penalty = -env->rw_closing * rel_speed / (dist + eta); + reward += vel_penalty; + // At 100m, 1 m/s: penalty = -c1 * 1.0 / 100.1 ≈ -0.01*c1 (negligible) + // At 10m, 1 m/s: penalty = -c1 * 1.0 / 10.1 ≈ -0.1*c1 (moderate) + // At 2m, 0.5 m/s: penalty = -c1 * 0.5 / 2.1 ≈ -0.24*c1 (strong braking signal) // Terminal rewards - graduated docking quality // dock_clean: dist < 5m, speed < 0.5 m/s -> +10.0 @@ -569,7 +640,7 @@ void c_step(OrbitalDock* env) { env->log.final_distance += (float)dist; env->log.final_rel_speed += (float)rel_speed; } else if (dock_rough) { - reward += 3.0; // Rough dock - acceptable + reward += 0.5; // Rough dock - acceptable but less than clean env->terminals[0] = 1; env->log.dock_success += 0.5f; // Count as partial success env->log.final_distance += (float)dist; @@ -593,7 +664,7 @@ void c_step(OrbitalDock* env) { env->log.final_distance += (float)dist; env->log.final_rel_speed += (float)rel_speed; } else if (timeout) { - reward -= 3.0; // Timeout penalty - mission failed + reward -= 1.0; // Timeout penalty - mission failed env->terminals[0] = 1; env->log.timeout_rate += 1.0f; env->log.final_distance += (float)dist; @@ -627,12 +698,12 @@ void c_step(OrbitalDock* env) { else if (timeout) terminal_str = "TIMEOUT"; printf("EP%d STEP%d | obs:[%.2f, %.2f, %.2f, %.2f, %.2f, %.2f] | " - "dist=%.2f spd=%.2f | action=%d | reward=%.4f | %s\n", + "dist=%.2f spd=%.2f | cmd_vel=[%.2f,%.2f,%.2f] | reward=%.4f | %s\n", g_debug_episodes, env->step_count, rel_r_dbg, rel_v_dbg, rel_h_dbg, // Position in meters rel_vr_dbg, rel_vv_dbg, rel_vh_dbg, // Velocity in m/s dist, rel_speed, - a_pro, // 0=full retro, 2=coast, 4=full prograde + desired_vel_r, desired_vel_v, desired_vel_h, // Commanded velocity reward, terminal_str); @@ -649,9 +720,10 @@ void c_step(OrbitalDock* env) { env->log.fuel_used += (float)(env->fuel_budget - env->fuel); env->log.n += 1.0f; - // Curriculum tracking: count docks and episodes - // No curriculum - just reset - env->log.curriculum_stage += 0.0f; // Keep field for compatibility + // Global curriculum tracking + int docked = dock_clean || dock_rough; + global_curriculum_update(env, docked); + env->log.curriculum_stage += (float)env->curriculum_stage; c_reset(env); } diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.py b/pufferlib/ocean/orbital_dock/orbital_dock.py index 464b0e5381..d14089764e 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.py +++ b/pufferlib/ocean/orbital_dock/orbital_dock.py @@ -2,24 +2,42 @@ A 3D orbital mechanics environment where the agent controls a chaser spacecraft that must navigate through space, rendezvous with, and dock to a space station -in orbit. The challenge is learning counterintuitive orbital mechanics: to catch -a target ahead of you, you must thrust retrograde to drop into a lower, faster orbit. +in orbit. + +Implements hierarchical velocity control (Hovell & Ulrich, 2021): +- Policy outputs DESIRED VELOCITY, not thrust +- P controller converts velocity command to thrust +- This separates guidance (learned) from control (engineered) +- Makes the learning problem much easier Key features: - Full 3D orbital mechanics with gravity -- LVLH (Local Vertical Local Horizontal) reference frame for observations/actions -- Multi-discrete action space for 3-axis thrust control -- Plane changes at ascending/descending nodes -- Fuel-optimal maneuver learning +- LVLH (Local Vertical Local Horizontal) reference frame +- Continuous action space for 3-axis velocity commands +- P controller handles thrust generation ''' import gymnasium import numpy as np +import torch +import torch.nn as nn import pufferlib +import pufferlib.models +import pufferlib.pytorch from pufferlib.ocean.orbital_dock import binding +class Policy(pufferlib.models.Default): + '''Custom policy with lower initial action std for precise velocity control.''' + def __init__(self, env, **kwargs): + super().__init__(env, **kwargs) + if self.is_continuous: + # Start with std=0.37 instead of 1.0 + # More precise initial exploration for docking + nn.init.constant_(self.decoder_logstd, -1.0) + + class OrbitalDock(pufferlib.PufferEnv): def __init__( self, @@ -35,44 +53,51 @@ def __init__( max_thrust=5000.0, mass=10000.0, fuel_budget=100.0, - max_steps=50, + max_steps=500, + # Hierarchical velocity control (Hovell & Ulrich 2021) + kp=0.5, # P controller gain + max_cmd_vel=2.0, # Max commanded velocity (m/s) # Docking conditions dock_dist=5.0, dock_speed=0.5, - # Difficulty (-1.0 = trivial 5m start for proving PPO works) - difficulty=-1.0, + # Difficulty (unused with hierarchical control) + difficulty=0.0, # Reward weights - reward_dock=10.0, - reward_dist_shaping=0.1, - reward_closing=0.1, - reward_vel_match=1.0, - reward_fuel_penalty=0.01, - reward_crash=5.0, - reward_deorbit=5.0, - reward_escape=5.0, + reward_dock=100.0, # Terminal dock bonus + reward_dist_shaping=10.0, # Distance progress scale + reward_closing=0.0, # Unused + reward_vel_match=0.5, # Velocity penalty near dock + reward_fuel_penalty=0.0, # Disabled for now + reward_crash=50.0, # Crash penalty + reward_deorbit=50.0, + reward_escape=50.0, reward_plane_align=0.0, reward_node_timing=0.0, ): + self.kp = kp + self.max_cmd_vel = max_cmd_vel + # 14-dimensional observation space - # [rel_x, rel_y, rel_z, rel_vx, rel_vy, rel_vz, dist_norm, closing_speed, + # [rel_r, rel_v, rel_h, rel_vr, rel_vv, rel_vh, dist_norm, closing_speed, # fuel_remaining, orbit_alt_norm, phase_angle, inclination_diff, # node_angle, time_remaining] # Normalized to approximately [-1, 1] using pos_scale=100m, vel_scale=2m/s - # Position/velocity obs can exceed [-1,1] if agent drifts far, so use [-5,5] bounds + # Position obs can exceed [-1,1] at longer distances, so use [-10,10] bounds self.single_observation_space = gymnasium.spaces.Box( - low=-5.0, high=5.0, shape=(14,), dtype=np.float32 + low=-10.0, high=10.0, shape=(14,), dtype=np.float32 ) - # Multi-discrete action space: 5x5x5 = 125 actions - # [thrust_prograde, thrust_radial, thrust_normal] - # Each dimension: {0: -100%, 1: -50%, 2: 0%, 3: +50%, 4: +100%} - self.single_action_space = gymnasium.spaces.MultiDiscrete([5, 5, 5]) + # Continuous action space: desired velocity in LVLH frame + # [vel_r, vel_v, vel_h] in m/s + # Policy outputs desired velocity, P controller converts to thrust + self.single_action_space = gymnasium.spaces.Box( + low=-max_cmd_vel, high=max_cmd_vel, shape=(3,), dtype=np.float32 + ) self.render_mode = None if render_mode in (None, 'None') else render_mode self.num_agents = num_envs self.report_interval = report_interval self.tick = 0 - self.difficulty = difficulty super().__init__(buf) @@ -93,10 +118,13 @@ def __init__( mass=mass, fuel_budget=fuel_budget, max_steps=max_steps, + # Hierarchical velocity control + kp=kp, + max_cmd_vel=max_cmd_vel, # Docking conditions dock_dist=dock_dist, dock_speed=dock_speed, - # Difficulty + # Difficulty (unused) difficulty=difficulty, # Reward weights reward_dock=reward_dock, @@ -117,17 +145,8 @@ def reset(self, seed=0): return self.observations, [] def step(self, actions): - # Action masking for curriculum learning: - # At low difficulty, mask radial/normal axes to zero thrust - # This reduces effective action space from 125 to 5 (prograde only) - if self.difficulty < 0.1: - actions = actions.copy() # Don't modify original - actions[:, 1] = 2 # radial = 0 (no thrust) - actions[:, 2] = 2 # normal = 0 (no thrust) - elif self.difficulty < 0.2: - actions = actions.copy() - actions[:, 2] = 2 # normal = 0 (only prograde + radial) - + # Actions are continuous velocity commands [vel_r, vel_v, vel_h] + # The P controller in C code converts these to thrust self.actions[:] = actions self.tick += 1 binding.vec_step(self.c_envs) @@ -160,8 +179,9 @@ def test_performance(timeout=10, atn_cache=1024, num_envs=4096): env.reset() tick = 0 - # Pre-generate random actions: shape (cache_size, num_envs, 3) - actions = np.random.randint(0, 5, (atn_cache, num_envs, 3), dtype=np.int32) + # Pre-generate random velocity commands: shape (cache_size, num_envs, 3) + # Range [-max_cmd_vel, max_cmd_vel] + actions = np.random.uniform(-2.0, 2.0, (atn_cache, num_envs, 3)).astype(np.float32) start = time.time() while time.time() - start < timeout: @@ -180,23 +200,23 @@ def test_basic(): '''Basic functionality test.''' print('Testing OrbitalDock basic functionality...') - env = OrbitalDock(num_envs=2, difficulty=0.0) + env = OrbitalDock(num_envs=2) obs, _ = env.reset(seed=42) print(f' Observation shape: {obs.shape}') print(f' Observation range: [{obs.min():.3f}, {obs.max():.3f}]') - # Take a few steps with no thrust (action=2 is 0%) - no_thrust = np.full((2, 3), 2, dtype=np.int32) + # Take a few steps with zero velocity command (coast) + zero_vel = np.zeros((2, 3), dtype=np.float32) for i in range(10): - obs, rewards, terminals, truncations, info = env.step(no_thrust) + obs, rewards, terminals, truncations, info = env.step(zero_vel) - print(f' After 10 steps (no thrust):') + print(f' After 10 steps (zero velocity command):') print(f' Rewards: {rewards}') print(f' Terminals: {terminals}') - # Take steps with random actions + # Take steps with random velocity commands for i in range(100): - actions = np.random.randint(0, 5, (2, 3), dtype=np.int32) + actions = np.random.uniform(-2.0, 2.0, (2, 3)).astype(np.float32) obs, rewards, terminals, truncations, info = env.step(actions) print(f' After 100 random steps:') From 94f79a28323e4ba4e78b1c327440bf825a1ebcb8 Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Fri, 6 Feb 2026 16:56:05 +0100 Subject: [PATCH 07/16] fix displacement reward hacking, add lr schedule - 86% docking rate --- pufferlib/config/ocean/orbital_dock.ini | 10 +++--- pufferlib/ocean/orbital_dock/binding.c | 10 ++++-- pufferlib/ocean/orbital_dock/orbital_dock.h | 40 ++++++++++++--------- 3 files changed, 37 insertions(+), 23 deletions(-) diff --git a/pufferlib/config/ocean/orbital_dock.ini b/pufferlib/config/ocean/orbital_dock.ini index bf2b5365ac..222d3e9995 100644 --- a/pufferlib/config/ocean/orbital_dock.ini +++ b/pufferlib/config/ocean/orbital_dock.ini @@ -30,13 +30,13 @@ max_cmd_vel = 2.0 # Docking conditions dock_dist = 5.0 dock_speed = 0.5 -difficulty = 0.0 +difficulty = 4.0 # Reward weights - scaled to fit within PufferLib's [-1, 1] reward clamp # Per-step shaping: ~0.01-0.1, terminal rewards: ~1.0 reward_dock = 1.0 -reward_dist_shaping = 0.1 -reward_closing = 0.5 -reward_vel_match = 0.0 +reward_dist_shaping = 0.005 +reward_closing = 0.2 +reward_vel_match = 1.0 reward_fuel_penalty = 0.0 reward_crash = 1.0 reward_deorbit = 1.0 @@ -57,6 +57,8 @@ ent_coef = 0.002 vf_coef = 2.0 vf_clip_coef = 0.5 max_grad_norm = 1.5 +anneal_lr = true +min_lr_ratio = 0.1 total_timesteps = 200_000_000 checkpoint_interval = 200 bptt_horizon = 64 diff --git a/pufferlib/ocean/orbital_dock/binding.c b/pufferlib/ocean/orbital_dock/binding.c index 753bd5ba25..00f79974aa 100644 --- a/pufferlib/ocean/orbital_dock/binding.c +++ b/pufferlib/ocean/orbital_dock/binding.c @@ -25,7 +25,7 @@ void global_curriculum_update(OrbitalDock* env, int docked) { double dock_rate = (double)g_curriculum_docks / (double)g_curriculum_episodes; double target_rate = CURRICULUM_PARAMS[g_curriculum_stage][5]; - if (dock_rate >= target_rate && g_curriculum_stage < 3) { + if (dock_rate >= target_rate && g_curriculum_stage < 4) { g_consecutive_above++; g_consecutive_below = 0; printf("CURRICULUM: Stage %d streak %d/%d (dock_rate=%.1f%% >= target=%.1f%%)\n", @@ -107,7 +107,13 @@ static int my_init(Env* env, PyObject* args, PyObject* kwargs) { env->rw_plane_align = unpack(kwargs, "reward_plane_align"); env->rw_node_timing = unpack(kwargs, "reward_node_timing"); - // Curriculum: sync with global stage + // Curriculum: initialize global stage from difficulty param (for eval) + int init_stage = (int)env->difficulty; + if (init_stage < 0) init_stage = 0; + if (init_stage > 4) init_stage = 4; + if (init_stage > g_curriculum_stage) { + g_curriculum_stage = init_stage; + } env->curriculum_stage = g_curriculum_stage; env->curriculum_docks = 0; env->curriculum_episodes = 0; diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.h b/pufferlib/ocean/orbital_dock/orbital_dock.h index 16814007bc..46e0e1ab15 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.h +++ b/pufferlib/ocean/orbital_dock/orbital_dock.h @@ -404,11 +404,13 @@ static void compute_observations(OrbitalDock* env) { // ============================================================================ // Stage parameters: {dist_min, dist_max, vel_min, vel_max, offset_max, target_dock_rate} -static const double CURRICULUM_PARAMS[4][6] = { - {5.0, 20.0, 0.2, 0.6, 3.0, 0.40}, // Stage 0: Bootstrap - {15.0, 50.0, 0.3, 0.8, 5.0, 0.35}, // Stage 1: Extend range - {40.0, 150.0, 0.4, 1.2, 10.0, 0.30}, // Stage 2: Proximity ops (inner) - {50.0, 500.0, 0.5, 2.0, 20.0, 0.25}, // Stage 3: Proximity ops (full) +// 5 stages with <=2.5x distance jump between stages for smooth progression +static const double CURRICULUM_PARAMS[5][6] = { + {5.0, 20.0, 0.2, 0.6, 3.0, 0.40}, // Stage 0: Bootstrap (5-20m) + {15.0, 50.0, 0.3, 0.8, 5.0, 0.35}, // Stage 1: Short range (15-50m) + {30.0, 100.0, 0.3, 1.0, 8.0, 0.30}, // Stage 2: Medium range (30-100m) + {80.0, 250.0, 0.4, 1.5, 15.0, 0.25}, // Stage 3: Extended range (80-250m) + {150.0,500.0, 0.5, 2.0, 20.0, 0.20}, // Stage 4: Full range (150-500m) }; // Sample initial conditions with stage mixing (30% from previous stage) @@ -604,26 +606,30 @@ void c_step(OrbitalDock* env) { int escaped = (c_alt > env->escape_alt); int timeout = (env->step_count >= env->max_steps); - // 7. Compute rewards - Hovell & Ulrich (2021) style - // Key insight: progress reward + proximity-scaled velocity damping + // 7. Compute rewards - two-component shaping double reward = 0.0; - // === Distance progress reward === - // Positive when getting closer, negative when moving away - // This is the PRIMARY learning signal - every step toward station is rewarded + // === Component 1: Weak linear shaping (long-range gradient) === + // Provides approach signal at ALL distances, even 500m. + // Coefficient is small so cumulative doesn't drown terminal rewards. + // From 500m: cumulative = 0.005 * 495 = 2.5 double distance_progress = env->prev_dist - dist; reward += env->rw_dist_shaping * distance_progress; + // === Component 2: Exponential near-dock shaping (bounded, drone-style) === + // exp(-dist/R) potential concentrates reward near station. + // Total cumulative bounded at ~1.0 regardless of starting distance. + // Uses rw_vel_match parameter as coefficient (repurposed). + double exp_R = 10.0; // Characteristic distance — signal within ~30m + double exp_shaping = exp(-dist / exp_R) - exp(-env->prev_dist / exp_R); + reward += env->rw_vel_match * exp_shaping; + // === Proximity-scaled velocity damping === - // Penalize speed MORE as you get closer to station - // Far away: move fast (low penalty). Close up: slow down (high penalty) - // Formula: -c1 * ||v|| / (||e|| + eta) - double eta = 0.1; // Prevents division by zero, smooths transition + double eta = 0.1; double vel_penalty = -env->rw_closing * rel_speed / (dist + eta); reward += vel_penalty; - // At 100m, 1 m/s: penalty = -c1 * 1.0 / 100.1 ≈ -0.01*c1 (negligible) - // At 10m, 1 m/s: penalty = -c1 * 1.0 / 10.1 ≈ -0.1*c1 (moderate) - // At 2m, 0.5 m/s: penalty = -c1 * 0.5 / 2.1 ≈ -0.24*c1 (strong braking signal) + + // Terminal rewards - graduated docking quality // dock_clean: dist < 5m, speed < 0.5 m/s -> +10.0 From 5f87dddb395ba33f3e8aa760c7af51c47602f557 Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Sat, 14 Feb 2026 14:25:28 +0100 Subject: [PATCH 08/16] orbital_dock: rewrite orbital physics to simpler CW dynamics, 2-layer actor/critic, soft speed annealing, potential-based proximity distance reward, 96% dock rate --- pufferlib/config/ocean/orbital_dock.ini | 83 +- pufferlib/ocean/orbital_dock/binding.c | 125 +-- pufferlib/ocean/orbital_dock/orbital_dock.h | 761 +++++-------------- pufferlib/ocean/orbital_dock/orbital_dock.py | 183 ++--- pufferlib/ocean/torch.py | 123 +++ 5 files changed, 462 insertions(+), 813 deletions(-) diff --git a/pufferlib/config/ocean/orbital_dock.ini b/pufferlib/config/ocean/orbital_dock.ini index 222d3e9995..d6cc244e4e 100644 --- a/pufferlib/config/ocean/orbital_dock.ini +++ b/pufferlib/config/ocean/orbital_dock.ini @@ -1,68 +1,75 @@ [base] package = ocean env_name = puffer_orbital_dock -policy_name = Policy +policy_name = OrbitalDock rnn_name = Recurrent [policy] -hidden_size = 128 +hidden_size = 256 [rnn] -input_size = 128 -hidden_size = 128 +input_size = 256 +hidden_size = 256 [vec] num_envs = 4 [env] +# 1024 envs for PufferLib throughput (STELLAR used 30) num_envs = 1024 render_mode = "None" mu = 3.986e14 -station_radius = 6.771e6 +# GEO orbit: R = 42,164 km +station_radius = 42164000.0 dt = 1.0 -max_thrust = 5000.0 -mass = 10000.0 +max_thrust = 10.0 +mass = 500.0 fuel_budget = 100.0 -max_steps = 200 -# Hierarchical velocity control (Hovell & Ulrich 2021) -kp = 0.5 -max_cmd_vel = 2.0 -# Docking conditions -dock_dist = 5.0 -dock_speed = 0.5 -difficulty = 4.0 -# Reward weights - scaled to fit within PufferLib's [-1, 1] reward clamp -# Per-step shaping: ~0.01-0.1, terminal rewards: ~1.0 -reward_dock = 1.0 -reward_dist_shaping = 0.005 -reward_closing = 0.2 -reward_vel_match = 1.0 -reward_fuel_penalty = 0.0 -reward_crash = 1.0 -reward_deorbit = 1.0 -reward_escape = 1.0 -reward_plane_align = 0.0 -reward_node_timing = 0.0 +max_steps = 2500 +# Docking point (STELLAR: [0, 60, 0] in LVLH) +dock_x = 0.0 +dock_y = 60.0 +dock_z = 0.0 +# Docking thresholds (STELLAR: 10m, 2 m/s) +dock_dist = 10.0 +dock_speed = 2.0 +# Speed annealing: dock_speed_start -> dock_speed over anneal_steps per-env steps +# Set anneal_steps = 0 to disable annealing (use dock_speed directly) +# Set dock_speed = 999.0 to revert to Exp 8 (no speed requirement) +dock_speed_start = 10.0 +anneal_steps = 350000 +# LOS cone (STELLAR: 60 deg total, 800m extent) +los_angle = 60.0 +los_extent = 800.0 +# Initial conditions (STELLAR V-bar approach) +init_x_center = 0.0 +init_y_center = 800.0 +init_z_center = 0.0 +init_x_range = 400.0 +init_y_range = 300.0 +init_z_range = 400.0 [train] device = mps -learning_rate = 0.01 -batch_size = auto +learning_rate = 0.001 +# 4096 total agents × 16 bptt = 65536 +batch_size = 65536 minibatch_size = 4096 -update_epochs = 1 -gamma = 0.9975 -gae_lambda = 0.96 +update_epochs = 2 +gamma = 0.998 +gae_lambda = 0.98 clip_coef = 0.06 -ent_coef = 0.002 -vf_coef = 2.0 +ent_coef = 0.005 +vf_coef = 0.5 vf_clip_coef = 0.5 -max_grad_norm = 1.5 +max_grad_norm = 0.5 anneal_lr = true min_lr_ratio = 0.1 -total_timesteps = 200_000_000 +total_timesteps = 500_000_000 checkpoint_interval = 200 -bptt_horizon = 64 -use_rnn = true +# MLP, no LSTM (STELLAR uses MLP) +bptt_horizon = 16 +use_rnn = false [sweep] downsample = 0 diff --git a/pufferlib/ocean/orbital_dock/binding.c b/pufferlib/ocean/orbital_dock/binding.c index 00f79974aa..91dcd952f9 100644 --- a/pufferlib/ocean/orbital_dock/binding.c +++ b/pufferlib/ocean/orbital_dock/binding.c @@ -4,68 +4,9 @@ #define Env OrbitalDock #include "../env_binding.h" -// Global curriculum state (shared across all envs in process) -static int g_curriculum_stage = 0; -static int g_curriculum_docks = 0; -static int g_curriculum_episodes = 0; -static int g_consecutive_above = 0; // consecutive windows above target -static int g_consecutive_below = 0; // consecutive windows below demotion threshold -#define G_CURRICULUM_WINDOW 10000 // Check every 10K global episodes -#define G_ADVANCE_STREAK 3 // Require 3 consecutive windows above target -#define G_DEMOTE_STREAK 2 // Require 2 consecutive windows below threshold - -// Called from orbital_dock.h when an episode ends -void global_curriculum_update(OrbitalDock* env, int docked) { - g_curriculum_episodes++; - if (docked) { - g_curriculum_docks++; - } - - if (g_curriculum_episodes >= G_CURRICULUM_WINDOW) { - double dock_rate = (double)g_curriculum_docks / (double)g_curriculum_episodes; - double target_rate = CURRICULUM_PARAMS[g_curriculum_stage][5]; - - if (dock_rate >= target_rate && g_curriculum_stage < 4) { - g_consecutive_above++; - g_consecutive_below = 0; - printf("CURRICULUM: Stage %d streak %d/%d (dock_rate=%.1f%% >= target=%.1f%%)\n", - g_curriculum_stage, g_consecutive_above, G_ADVANCE_STREAK, - dock_rate * 100.0, target_rate * 100.0); - if (g_consecutive_above >= G_ADVANCE_STREAK) { - g_curriculum_stage++; - g_consecutive_above = 0; - printf("CURRICULUM: ADVANCED to stage %d\n", g_curriculum_stage); - } - fflush(stdout); - } else if (g_curriculum_stage > 0 && dock_rate < target_rate * 0.5) { - g_consecutive_below++; - g_consecutive_above = 0; - printf("CURRICULUM: Demote streak %d/%d (dock_rate=%.1f%% < %.1f%%)\n", - g_consecutive_below, G_DEMOTE_STREAK, - dock_rate * 100.0, target_rate * 50.0); - if (g_consecutive_below >= G_DEMOTE_STREAK) { - g_curriculum_stage--; - g_consecutive_below = 0; - printf("CURRICULUM: DEMOTED to stage %d\n", g_curriculum_stage); - } - fflush(stdout); - } else { - // In between — reset both streaks - g_consecutive_above = 0; - g_consecutive_below = 0; - } - - g_curriculum_docks = 0; - g_curriculum_episodes = 0; - } - - // Sync this env's stage with global - env->curriculum_stage = g_curriculum_stage; -} - static int my_init(Env* env, PyObject* args, PyObject* kwargs) { - // Initialize render client to NULL env->client = NULL; + // Physics parameters env->mu = unpack(kwargs, "mu"); env->station_radius = unpack(kwargs, "station_radius"); @@ -75,49 +16,28 @@ static int my_init(Env* env, PyObject* args, PyObject* kwargs) { env->fuel_budget = unpack(kwargs, "fuel_budget"); env->max_steps = (int)unpack(kwargs, "max_steps"); - // Hierarchical velocity control parameters - env->kp = unpack(kwargs, "kp"); - env->max_cmd_vel = unpack(kwargs, "max_cmd_vel"); - - // Docking conditions + // Docking point (STELLAR: [0, 60, 0]) + env->dock_x = unpack(kwargs, "dock_x"); + env->dock_y = unpack(kwargs, "dock_y"); + env->dock_z = unpack(kwargs, "dock_z"); env->dock_dist = unpack(kwargs, "dock_dist"); env->dock_speed = unpack(kwargs, "dock_speed"); - - // Termination thresholds (fixed values) - env->earth_radius = 6.371e6; // Earth radius in meters - env->deorbit_alt = 100000.0; // 100 km - env->escape_alt = 50000000.0; // 50,000 km - - // Difficulty/randomization - env->difficulty = unpack(kwargs, "difficulty"); - env->alt_offset_max = 50000.0; // 50 km - env->phase_offset_max = 0.524; // 30 degrees in radians - env->incl_offset_max = 0.262; // 15 degrees in radians - env->vel_perturb_max = 5.0; // 5 m/s - - // Reward weights - env->rw_dock = unpack(kwargs, "reward_dock"); - env->rw_dist_shaping = unpack(kwargs, "reward_dist_shaping"); - env->rw_closing = unpack(kwargs, "reward_closing"); - env->rw_vel_match = unpack(kwargs, "reward_vel_match"); - env->rw_fuel = unpack(kwargs, "reward_fuel_penalty"); - env->rw_crash = unpack(kwargs, "reward_crash"); - env->rw_deorbit = unpack(kwargs, "reward_deorbit"); - env->rw_escape = unpack(kwargs, "reward_escape"); - env->rw_plane_align = unpack(kwargs, "reward_plane_align"); - env->rw_node_timing = unpack(kwargs, "reward_node_timing"); - - // Curriculum: initialize global stage from difficulty param (for eval) - int init_stage = (int)env->difficulty; - if (init_stage < 0) init_stage = 0; - if (init_stage > 4) init_stage = 4; - if (init_stage > g_curriculum_stage) { - g_curriculum_stage = init_stage; - } - env->curriculum_stage = g_curriculum_stage; - env->curriculum_docks = 0; - env->curriculum_episodes = 0; - env->curriculum_window = G_CURRICULUM_WINDOW; + env->dock_speed_start = unpack(kwargs, "dock_speed_start"); + env->anneal_steps = (int)unpack(kwargs, "anneal_steps"); + env->global_step = 0; + + // LOS cone + double los_angle_deg = unpack(kwargs, "los_angle"); + env->los_half_angle = (los_angle_deg / 2.0) * M_PI / 180.0; + env->los_extent = unpack(kwargs, "los_extent"); + + // Initial condition ranges (STELLAR V-bar approach) + env->init_x_center = unpack(kwargs, "init_x_center"); + env->init_y_center = unpack(kwargs, "init_y_center"); + env->init_z_center = unpack(kwargs, "init_z_center"); + env->init_x_range = unpack(kwargs, "init_x_range"); + env->init_y_range = unpack(kwargs, "init_y_range"); + env->init_z_range = unpack(kwargs, "init_z_range"); return 0; } @@ -127,12 +47,9 @@ static int my_log(PyObject* dict, Log* log) { assign_to_dict(dict, "episode_length", log->episode_length); assign_to_dict(dict, "dock_success", log->dock_success); assign_to_dict(dict, "crash_rate", log->crash_rate); - assign_to_dict(dict, "deorbit_rate", log->deorbit_rate); - assign_to_dict(dict, "escape_rate", log->escape_rate); assign_to_dict(dict, "timeout_rate", log->timeout_rate); assign_to_dict(dict, "fuel_used", log->fuel_used); assign_to_dict(dict, "final_distance", log->final_distance); assign_to_dict(dict, "final_rel_speed", log->final_rel_speed); - assign_to_dict(dict, "curriculum_stage", log->curriculum_stage); return 0; } diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.h b/pufferlib/ocean/orbital_dock/orbital_dock.h index 46e0e1ab15..eb411f8811 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.h +++ b/pufferlib/ocean/orbital_dock/orbital_dock.h @@ -7,10 +7,6 @@ #include #include "raylib.h" -// Debug: print first N episodes (set to 0 to disable) -static int g_debug_episodes = 0; -#define DEBUG_MAX_EPISODES 0 - #ifndef M_PI #define M_PI 3.14159265358979323846 #endif @@ -23,54 +19,6 @@ static const Color PUFF_YELLOW = {255, 200, 0, 255}; static const Color PUFF_RED = {187, 0, 0, 255}; static const Color PUFF_ORANGE = {255, 128, 0, 255}; -// ============================================================================ -// Vector Math -// ============================================================================ - -typedef struct { - double x, y, z; -} Vec3d; - -static inline Vec3d vec3d(double x, double y, double z) { - return (Vec3d){x, y, z}; -} - -static inline Vec3d add3d(Vec3d a, Vec3d b) { - return (Vec3d){a.x + b.x, a.y + b.y, a.z + b.z}; -} - -static inline Vec3d sub3d(Vec3d a, Vec3d b) { - return (Vec3d){a.x - b.x, a.y - b.y, a.z - b.z}; -} - -static inline Vec3d scale3d(Vec3d a, double s) { - return (Vec3d){a.x * s, a.y * s, a.z * s}; -} - -static inline double dot3d(Vec3d a, Vec3d b) { - return a.x * b.x + a.y * b.y + a.z * b.z; -} - -static inline Vec3d cross3d(Vec3d a, Vec3d b) { - return (Vec3d){ - a.y * b.z - a.z * b.y, - a.z * b.x - a.x * b.z, - a.x * b.y - a.y * b.x - }; -} - -static inline double norm3d(Vec3d a) { - return sqrt(dot3d(a, a)); -} - -static inline Vec3d normalize3d(Vec3d a) { - double n = norm3d(a); - if (n > 1e-12) { - return scale3d(a, 1.0 / n); - } - return (Vec3d){0, 0, 1}; // Default to Z-up if degenerate -} - // ============================================================================ // Log Struct (all floats, ending with n) // ============================================================================ @@ -80,24 +28,25 @@ typedef struct { float episode_length; float dock_success; float crash_rate; - float deorbit_rate; - float escape_rate; float timeout_rate; float fuel_used; float final_distance; float final_rel_speed; - float curriculum_stage; float n; // Required as last field } Log; // ============================================================================ -// Render Client Struct (used for visualization) +// Render Client Struct // ============================================================================ #define RENDER_WIDTH 1080 #define RENDER_HEIGHT 720 #define TRAIL_LENGTH 256 +typedef struct { + double x, y, z; +} Vec3d; + typedef struct { Vec3d pos[TRAIL_LENGTH]; int index; @@ -108,16 +57,14 @@ typedef struct Client { Camera3D camera; float width; float height; - float camera_distance; float camera_azimuth; float camera_elevation; bool is_dragging; Vector2 last_mouse_pos; - Trail trail; - float scale; // meters per render unit - int last_step; // for tracking episode resets + float scale; + int last_step; } Client; // ============================================================================ @@ -126,81 +73,51 @@ typedef struct Client { typedef struct { Log log; // Required field (first) - float* observations; // Required field - 14 floats - float* actions; // Required field - 3 floats (continuous velocity commands) + float* observations; // Required field - 6 floats [x, y, z, vx, vy, vz] + float* actions; // Required field - 3 floats (thrust fractions [-1,1]) float* rewards; // Required field unsigned char* terminals; // Required field - // Chaser state (inertial frame, SI units) - double cx, cy, cz; // Position (m) - double cvx, cvy, cvz; // Velocity (m/s) - - // Station state (inertial frame) - double tx, ty, tz; // Position (m) - double tvx, tvy, tvz; // Velocity (m/s) + // CW state in LVLH frame (meters, m/s) + double x, y, z; // Position relative to station + double vx, vy, vz; // Velocity relative to station + double prev_dist; // Previous distance to dock (for progress reward) - // Station orbital parameters (for analytical propagation) - double t_omega; // Angular velocity (rad/s) - double t_hx, t_hy, t_hz; // Angular momentum direction (unit vector) - double t_radius; // Station orbital radius (m) + // CW orbital parameter + double n; // Mean motion = sqrt(mu/R^3) (rad/s) // Environment state - double fuel; // Remaining delta-v (m/s) - double init_dist; // Initial distance for normalization - double prev_dist; // Previous distance for shaping - double prev_speed; // Previous relative speed for velocity shaping + double fuel; // Remaining delta-v (m/s) int step_count; int max_steps; // Physics config - double mu; // Gravitational parameter (m^3/s^2) - double station_radius; // Station orbit radius (m) - double max_thrust; // Max thrust per axis (N) - double mass; // Chaser mass (kg) - double dt; // Timestep (s) - double fuel_budget; // Total delta-v budget (m/s) - - // Hierarchical velocity control (Hovell & Ulrich 2021) - double kp; // P controller gain - double max_cmd_vel; // Max commanded velocity (m/s) - - // Docking conditions - double dock_dist; // Docking distance threshold (m) - double dock_speed; // Docking speed threshold (m/s) - - // Termination thresholds - double earth_radius; // Earth radius (m) - double deorbit_alt; // Deorbit altitude (m from surface) - double escape_alt; // Escape altitude (m from surface) - - // Difficulty / randomization - double difficulty; // 0.0 to 1.0 - double alt_offset_max; // Max altitude offset (m) - double phase_offset_max; // Max phase offset (rad) - double incl_offset_max; // Max inclination offset (rad) - double vel_perturb_max; // Max velocity perturbation (m/s) - - // Reward weights - double rw_dock; - double rw_dist_shaping; - double rw_closing; - double rw_vel_match; - double rw_fuel; - double rw_crash; - double rw_deorbit; - double rw_escape; - double rw_plane_align; - double rw_node_timing; + double mu; // Gravitational parameter (m^3/s^2) + double station_radius; // Station orbit radius (m) + double max_thrust; // Max thrust per axis (N) + double mass; // Chaser mass (kg) + double dt; // Timestep (s) + double fuel_budget; // Total delta-v budget (m/s) + + // Docking conditions (STELLAR: dock at [0, 60, 0]) + double dock_x, dock_y, dock_z; // Docking point in LVLH + double dock_dist; // Docking distance threshold (m) + double dock_speed; // Final docking speed threshold (m/s) + double dock_speed_start; // Starting speed threshold for annealing (m/s) + int anneal_steps; // Per-env steps to anneal dock_speed (0 = no annealing) + int global_step; // Persistent step counter (never resets) + + // LOS cone (STELLAR: 60 deg total, 800m extent along +y) + double los_half_angle; // Half-angle in radians + double los_extent; // Max extent along y-axis (m) + + // Initial condition ranges (STELLAR V-bar approach) + double init_x_center, init_y_center, init_z_center; + double init_x_range, init_y_range, init_z_range; // RNG state unsigned int rng_state; - // Curriculum state - int curriculum_stage; // 0=free docks, 1=easy, 2=medium, 3=full - int curriculum_docks; // Dock count in current window - int curriculum_episodes; // Episode count in current window - int curriculum_window; // Window size for advancement check - // Render client (NULL if not rendering) Client *client; } OrbitalDock; @@ -219,7 +136,6 @@ static inline unsigned int xorshift32(unsigned int* state) { } static inline double rndf(OrbitalDock* env) { - // Use xorshift32 for better distribution with sequential seeds return (double)xorshift32(&env->rng_state) / (double)0xFFFFFFFF; } @@ -228,219 +144,110 @@ static inline double rndf_range(OrbitalDock* env, double min, double max) { } // ============================================================================ -// Physics Functions +// CW Dynamics: Clohessy-Wiltshire Linear Relative Motion // ============================================================================ -// Rodrigues rotation: rotate vector v by angle theta around unit axis k -static Vec3d rodrigues_rotate(Vec3d v, Vec3d k, double theta) { - double cos_t = cos(theta); - double sin_t = sin(theta); - Vec3d k_cross_v = cross3d(k, v); - double k_dot_v = dot3d(k, v); - return add3d( - add3d(scale3d(v, cos_t), scale3d(k_cross_v, sin_t)), - scale3d(k, k_dot_v * (1.0 - cos_t)) - ); +// CW derivatives: dx/dt = f(state, thrust_accel) +// state = [x, y, z, vx, vy, vz] +// accel = [ax, ay, az] (thrust/mass in LVLH) +static void cw_derivatives(double n, const double state[6], + const double accel[3], double deriv[6]) { + double x = state[0], y = state[1], z = state[2]; + double vx = state[3], vy = state[4], vz = state[5]; + + deriv[0] = vx; + deriv[1] = vy; + deriv[2] = vz; + deriv[3] = 3.0*n*n*x + 2.0*n*vy + accel[0]; // radial + deriv[4] = -2.0*n*vx + accel[1]; // along-track + deriv[5] = -n*n*z + accel[2]; // cross-track } -// Compute LVLH basis vectors at given position/velocity -// r_hat: Radial (away from Earth) -// v_hat: Prograde (along velocity) -// h_hat: Normal (angular momentum direction) -static void compute_lvlh(Vec3d pos, Vec3d vel, Vec3d* r_hat, Vec3d* v_hat, Vec3d* h_hat) { - *r_hat = normalize3d(pos); - Vec3d h = cross3d(pos, vel); - *h_hat = normalize3d(h); - *v_hat = cross3d(*h_hat, *r_hat); -} +// RK4 integration of CW equations over one timestep +static void cw_step_rk4(OrbitalDock* env, double ax, double ay, double az) { + double dt = env->dt; + double n = env->n; + double accel[3] = {ax, ay, az}; -// Compute gravitational acceleration -static Vec3d compute_gravity(OrbitalDock* env, Vec3d pos) { - double r = norm3d(pos); - double r3 = r * r * r; - return scale3d(pos, -env->mu / r3); -} + double s[6] = {env->x, env->y, env->z, env->vx, env->vy, env->vz}; + double k1[6], k2[6], k3[6], k4[6], tmp[6]; -// Integrate using Velocity Verlet (Störmer-Verlet) - second order, symplectic -// Error is O(dt³) per step instead of O(dt²) for Euler -static void integrate_verlet(OrbitalDock* env, - double* px, double* py, double* pz, - double* vx, double* vy, double* vz, - Vec3d thrust) { - Vec3d pos = vec3d(*px, *py, *pz); - Vec3d vel = vec3d(*vx, *vy, *vz); + // k1 + cw_derivatives(n, s, accel, k1); - // Acceleration at current position - Vec3d a_old = add3d(compute_gravity(env, pos), thrust); + // k2 + for (int i = 0; i < 6; i++) tmp[i] = s[i] + 0.5*dt*k1[i]; + cw_derivatives(n, tmp, accel, k2); - // Update position: r += v*dt + 0.5*a*dt² - pos = add3d(pos, add3d(scale3d(vel, env->dt), - scale3d(a_old, 0.5 * env->dt * env->dt))); + // k3 + for (int i = 0; i < 6; i++) tmp[i] = s[i] + 0.5*dt*k2[i]; + cw_derivatives(n, tmp, accel, k3); - // Acceleration at new position - Vec3d a_new = add3d(compute_gravity(env, pos), thrust); + // k4 + for (int i = 0; i < 6; i++) tmp[i] = s[i] + dt*k3[i]; + cw_derivatives(n, tmp, accel, k4); - // Update velocity: v += 0.5*(a_old + a_new)*dt - vel = add3d(vel, scale3d(add3d(a_old, a_new), 0.5 * env->dt)); - - *px = pos.x; *py = pos.y; *pz = pos.z; - *vx = vel.x; *vy = vel.y; *vz = vel.z; -} - -// Integrate chaser dynamics with thrust -static void integrate_chaser(OrbitalDock* env, Vec3d thrust_inertial) { - Vec3d thrust_accel = scale3d(thrust_inertial, 1.0 / env->mass); - integrate_verlet(env, &env->cx, &env->cy, &env->cz, - &env->cvx, &env->cvy, &env->cvz, thrust_accel); -} + // Update state + for (int i = 0; i < 6; i++) { + s[i] += (dt / 6.0) * (k1[i] + 2.0*k2[i] + 2.0*k3[i] + k4[i]); + } -// Integrate station dynamics (same method as chaser, so errors cancel in relative frame) -static void propagate_station(OrbitalDock* env) { - Vec3d zero_thrust = vec3d(0, 0, 0); - integrate_verlet(env, &env->tx, &env->ty, &env->tz, - &env->tvx, &env->tvy, &env->tvz, zero_thrust); + env->x = s[0]; env->y = s[1]; env->z = s[2]; + env->vx = s[3]; env->vy = s[4]; env->vz = s[5]; } // ============================================================================ -// Observation Computation +// LOS Cone Check (STELLAR: 60 deg total, along +y from docking point) // ============================================================================ -static void compute_observations(OrbitalDock* env) { - // Get chaser and station states - Vec3d c_pos = vec3d(env->cx, env->cy, env->cz); - Vec3d c_vel = vec3d(env->cvx, env->cvy, env->cvz); - Vec3d t_pos = vec3d(env->tx, env->ty, env->tz); - Vec3d t_vel = vec3d(env->tvx, env->tvy, env->tvz); - - // Compute station's LVLH frame (Hill frame) - Vec3d r_hat, v_hat, h_hat; - compute_lvlh(t_pos, t_vel, &r_hat, &v_hat, &h_hat); - - // Relative position/velocity in inertial - Vec3d rel_pos = sub3d(c_pos, t_pos); - Vec3d rel_vel = sub3d(c_vel, t_vel); - - // Project to LVLH (Hill) frame - double rel_r = dot3d(rel_pos, r_hat); // R-bar (radial) - double rel_v = dot3d(rel_pos, v_hat); // V-bar (prograde) - double rel_h = dot3d(rel_pos, h_hat); // H-bar (normal) - double rel_vr = dot3d(rel_vel, r_hat); - double rel_vv = dot3d(rel_vel, v_hat); - double rel_vh = dot3d(rel_vel, h_hat); - - // Distance and closing speed - double dist = norm3d(rel_pos); - double closing_speed = (dist > 1e-10) ? -dot3d(normalize3d(rel_pos), rel_vel) : 0.0; - - // Circular velocity at station orbit for normalization - double v_circ = sqrt(env->mu / env->station_radius); - - // Altitude normalization - double c_alt = norm3d(c_pos) - env->earth_radius; - double t_alt = env->station_radius - env->earth_radius; - double alt_diff = (env->alt_offset_max > 0) ? (c_alt - t_alt) / env->alt_offset_max : 0.0; - - // Phase angle (in-plane angular separation) - // Project positions onto station's orbital plane - Vec3d c_proj = sub3d(c_pos, scale3d(h_hat, dot3d(c_pos, h_hat))); - Vec3d t_proj = t_pos; // Station is already in its plane - double phase_angle = 0.0; - double c_proj_norm = norm3d(c_proj); - double t_proj_norm = norm3d(t_proj); - if (c_proj_norm > 1e-10 && t_proj_norm > 1e-10) { - Vec3d c_proj_n = scale3d(c_proj, 1.0 / c_proj_norm); - Vec3d t_proj_n = scale3d(t_proj, 1.0 / t_proj_norm); - phase_angle = atan2( - dot3d(cross3d(t_proj_n, c_proj_n), h_hat), - dot3d(t_proj_n, c_proj_n) - ) / M_PI; - } +static int in_los(OrbitalDock* env) { + // Vector from docking point to chaser + double px = env->x - env->dock_x; + double py = env->y - env->dock_y; + double pz = env->z - env->dock_z; - // Inclination difference - Vec3d c_h = normalize3d(cross3d(c_pos, c_vel)); - Vec3d t_h = vec3d(env->t_hx, env->t_hy, env->t_hz); - double cos_incl = dot3d(c_h, t_h); - cos_incl = fmax(-1.0, fmin(1.0, cos_incl)); - double incl_diff = acos(cos_incl); - double incl_diff_norm = (env->incl_offset_max > 0) ? incl_diff / env->incl_offset_max : 0.0; - - // Node angle (angle to ascending/descending node) - double node_angle = 0.0; - Vec3d node_line = cross3d(c_h, t_h); - double node_norm = norm3d(node_line); - if (node_norm > 1e-10) { - node_line = scale3d(node_line, 1.0 / node_norm); - Vec3d c_pos_n = normalize3d(c_pos); - node_angle = atan2( - dot3d(cross3d(c_pos_n, node_line), c_h), - dot3d(c_pos_n, node_line) - ) / M_PI; - } + // Must be in front of docking point (positive y relative to dock) + if (py < 0.0 || py > env->los_extent) return 0; + + // LOS cone axis is along +y + double p_norm = sqrt(px*px + py*py + pz*pz); + if (p_norm < 1e-10) return 1; // At docking point - // Normalization scales - tuned for close-range docking (30-50m scenarios at d=0) - double pos_scale = 100.0; // 100m reference - 50m = 0.5, 100m = 1.0 - double vel_scale = 2.0; // 2 m/s reference - 0.5 m/s = 0.25, 1 m/s = 0.5 - - // Fill observation buffer (clamped to declared bounds [-10, 10]) - int idx = 0; - env->observations[idx++] = (float)fmax(-10.0, fmin(10.0, rel_r / pos_scale)); // 0: rel_x (R-bar) - env->observations[idx++] = (float)fmax(-10.0, fmin(10.0, rel_v / pos_scale)); // 1: rel_y (V-bar) - env->observations[idx++] = (float)fmax(-10.0, fmin(10.0, rel_h / pos_scale)); // 2: rel_z (H-bar) - env->observations[idx++] = (float)fmax(-10.0, fmin(10.0, rel_vr / vel_scale)); // 3: rel_vx - env->observations[idx++] = (float)fmax(-10.0, fmin(10.0, rel_vv / vel_scale)); // 4: rel_vy - env->observations[idx++] = (float)fmax(-10.0, fmin(10.0, rel_vh / vel_scale)); // 5: rel_vz - env->observations[idx++] = (float)fmin(10.0, dist / pos_scale); // 6: dist_norm (always positive) - env->observations[idx++] = (float)fmax(-10.0, fmin(10.0, closing_speed / vel_scale)); // 7: closing_speed - env->observations[idx++] = (float)fmax(0.0, fmin(1.0, env->fuel / env->fuel_budget)); // 8: fuel_remaining - env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, alt_diff)); // 9: orbit_alt_norm - env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, phase_angle)); // 10: phase_angle - env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, incl_diff_norm)); // 11: inclination_diff - env->observations[idx++] = (float)fmax(-1.0, fmin(1.0, node_angle)); // 12: node_angle - env->observations[idx++] = (float)fmax(0.0, fmin(1.0, 1.0 - (double)env->step_count / env->max_steps)); // 13: time_remaining + // cos(angle) = dot(p, cone_axis) / |p| + // cone_axis = [0, 1, 0], so dot = py + double cos_angle = py / p_norm; + + return (cos_angle >= cos(env->los_half_angle)) ? 1 : 0; } // ============================================================================ -// Curriculum Learning +// Observation Computation (10 floats: raw LVLH state + computed features) // ============================================================================ -// Stage parameters: {dist_min, dist_max, vel_min, vel_max, offset_max, target_dock_rate} -// 5 stages with <=2.5x distance jump between stages for smooth progression -static const double CURRICULUM_PARAMS[5][6] = { - {5.0, 20.0, 0.2, 0.6, 3.0, 0.40}, // Stage 0: Bootstrap (5-20m) - {15.0, 50.0, 0.3, 0.8, 5.0, 0.35}, // Stage 1: Short range (15-50m) - {30.0, 100.0, 0.3, 1.0, 8.0, 0.30}, // Stage 2: Medium range (30-100m) - {80.0, 250.0, 0.4, 1.5, 15.0, 0.25}, // Stage 3: Extended range (80-250m) - {150.0,500.0, 0.5, 2.0, 20.0, 0.20}, // Stage 4: Full range (150-500m) -}; - -// Sample initial conditions with stage mixing (30% from previous stage) -static void sample_initial_conditions(OrbitalDock* env, - double* approach_dist, - double* closing_speed, - double* offset_max) { - int stage = env->curriculum_stage; - - // Stage mixing: 30% chance to sample from previous stage - // This prevents catastrophic forgetting during transitions - double stage_mix = rndf(env); - if (stage > 0 && stage_mix < 0.3) { - stage = stage - 1; // Sample from easier stage - } - - double dist_min = CURRICULUM_PARAMS[stage][0]; - double dist_max = CURRICULUM_PARAMS[stage][1]; - double vel_min = CURRICULUM_PARAMS[stage][2]; - double vel_max = CURRICULUM_PARAMS[stage][3]; - *offset_max = CURRICULUM_PARAMS[stage][4]; - - *approach_dist = dist_min + (dist_max - dist_min) * rndf(env); - *closing_speed = vel_min + (vel_max - vel_min) * rndf(env); +static void compute_observations(OrbitalDock* env) { + // Raw LVLH state + env->observations[0] = (float)env->x; + env->observations[1] = (float)env->y; + env->observations[2] = (float)env->z; + env->observations[3] = (float)env->vx; + env->observations[4] = (float)env->vy; + env->observations[5] = (float)env->vz; + + // Computed features + double dx = env->x - env->dock_x; + double dy = env->y - env->dock_y; + double dz = env->z - env->dock_z; + double dist = sqrt(dx*dx + dy*dy + dz*dz); + double speed = sqrt(env->vx*env->vx + env->vy*env->vy + env->vz*env->vz); + double closing_vel = (dist > 1e-6) ? -(dx*env->vx + dy*env->vy + dz*env->vz) / dist : 0.0; + double time_remaining = 1.0 - (double)env->step_count / (double)env->max_steps; + + env->observations[6] = (float)dist; + env->observations[7] = (float)speed; + env->observations[8] = (float)closing_vel; + env->observations[9] = (float)time_remaining; } -// Global curriculum tracking - implemented in binding.c -// Uses shared state across all envs for stable advancement -void global_curriculum_update(OrbitalDock* env, int docked); - // ============================================================================ // Reset // ============================================================================ @@ -448,71 +255,36 @@ void global_curriculum_update(OrbitalDock* env, int docked); void c_reset(OrbitalDock* env) { env->step_count = 0; - // Initialize xorshift RNG from global rand() (which has been seeded by vec_reset) - // Use multiple rand() calls to get better entropy + // Initialize xorshift RNG env->rng_state = (unsigned int)rand() ^ ((unsigned int)rand() << 15); - if (env->rng_state == 0) env->rng_state = 1; // xorshift needs non-zero state - - // Station in circular orbit at configured radius - double r = env->station_radius; - double v_circ = sqrt(env->mu / r); - env->t_omega = v_circ / r; // Angular velocity - - // Station starts at (r, 0, 0) moving in +Y direction (in XY plane) - env->tx = r; env->ty = 0; env->tz = 0; - env->tvx = 0; env->tvy = v_circ; env->tvz = 0; - env->t_hx = 0; env->t_hy = 0; env->t_hz = 1.0; // Angular momentum: +Z - env->t_radius = r; - - // Get station's LVLH basis vectors - Vec3d t_pos = vec3d(env->tx, env->ty, env->tz); - Vec3d t_vel = vec3d(env->tvx, env->tvy, env->tvz); - Vec3d r_hat, v_hat, h_hat; - compute_lvlh(t_pos, t_vel, &r_hat, &v_hat, &h_hat); - - // === CURRICULUM-BASED INITIAL CONDITIONS === - double approach_dist, closing_speed, offset_max; - sample_initial_conditions(env, &approach_dist, &closing_speed, &offset_max); - - // Random offsets in R-bar and H-bar - double r_offset = (rndf(env) - 0.5) * 2.0 * offset_max; - double h_offset = (rndf(env) - 0.5) * 2.0 * offset_max; - - // LVLH position: primarily V-bar (behind station), with offsets - double lvlh_r = r_offset; - double lvlh_v = -approach_dist; // Negative = behind station - double lvlh_h = h_offset; - - // Convert LVLH offset to inertial position - Vec3d offset = add3d(add3d(scale3d(r_hat, lvlh_r), scale3d(v_hat, lvlh_v)), scale3d(h_hat, lvlh_h)); - Vec3d c_pos = add3d(t_pos, offset); - env->cx = c_pos.x; env->cy = c_pos.y; env->cz = c_pos.z; - - // Initial velocity: co-moving + closing velocity toward station - Vec3d c_vel = t_vel; - // Closing velocity is along +V-bar (toward station) - c_vel = add3d(c_vel, scale3d(v_hat, closing_speed)); - - env->cvx = c_vel.x; env->cvy = c_vel.y; env->cvz = c_vel.z; - - // Initialize fuel and distance tracking + if (env->rng_state == 0) env->rng_state = 1; + + // Compute mean motion + env->n = sqrt(env->mu / (env->station_radius * env->station_radius * env->station_radius)); + + // STELLAR V-bar approach initial conditions + // Position: [0, 800, 0] +/- [400, 300, 400] + double x_off = rndf_range(env, -1.0, 1.0) * env->init_x_range; + double y_off = rndf_range(env, -1.0, 1.0) * env->init_y_range; + double z_off = rndf_range(env, -1.0, 1.0) * env->init_z_range; + + env->x = env->init_x_center + x_off; + env->y = env->init_y_center + y_off; + env->z = env->init_z_center + z_off; + + // Velocity: random in ~[-2, 2] m/s per axis (STELLAR: randint(-2,2) * rand()) + env->vx = rndf_range(env, -2.0, 2.0); + env->vy = rndf_range(env, -2.0, 2.0); + env->vz = rndf_range(env, -2.0, 2.0); + + // Initialize fuel env->fuel = env->fuel_budget; - Vec3d rel = sub3d(vec3d(env->cx, env->cy, env->cz), vec3d(env->tx, env->ty, env->tz)); - Vec3d rel_vel = sub3d(vec3d(env->cvx, env->cvy, env->cvz), vec3d(env->tvx, env->tvy, env->tvz)); - env->init_dist = norm3d(rel); - if (env->init_dist < 1.0) env->init_dist = 1.0; // Prevent division by zero - env->prev_dist = env->init_dist; - env->prev_speed = norm3d(rel_vel); - - // === DYNAMIC MAX_STEPS === - // Scale max_steps with initial distance so agent has time to reach station - // Base: 100 steps, plus 3 steps per meter of initial distance - int base_steps = 100; - int steps_per_meter = 3; - env->max_steps = base_steps + (int)(env->init_dist * steps_per_meter); - // At 20m: 100 + 60 = 160 steps - // At 100m: 100 + 300 = 400 steps - // At 500m: 100 + 1500 = 1600 steps + + // Compute initial distance to dock for progress reward + double dx0 = env->x - env->dock_x; + double dy0 = env->y - env->dock_y; + double dz0 = env->z - env->dock_z; + env->prev_dist = sqrt(dx0*dx0 + dy0*dy0 + dz0*dz0); compute_observations(env); } @@ -526,211 +298,97 @@ void c_step(OrbitalDock* env) { env->terminals[0] = 0; env->step_count++; - // 1. Get STATION'S LVLH basis (not chaser's!) - Vec3d t_pos = vec3d(env->tx, env->ty, env->tz); - Vec3d t_vel = vec3d(env->tvx, env->tvy, env->tvz); - Vec3d r_hat, v_hat, h_hat; - compute_lvlh(t_pos, t_vel, &r_hat, &v_hat, &h_hat); - - // 2. Get current relative velocity in LVLH frame - Vec3d c_pos = vec3d(env->cx, env->cy, env->cz); - Vec3d c_vel = vec3d(env->cvx, env->cvy, env->cvz); - Vec3d rel_vel = sub3d(c_vel, t_vel); - double current_vel_r = dot3d(rel_vel, r_hat); - double current_vel_v = dot3d(rel_vel, v_hat); - double current_vel_h = dot3d(rel_vel, h_hat); - - // 3. Read desired velocity from continuous actions (clamp to bounds) - double desired_vel_r = fmax(-env->max_cmd_vel, fmin(env->max_cmd_vel, (double)env->actions[0])); - double desired_vel_v = fmax(-env->max_cmd_vel, fmin(env->max_cmd_vel, (double)env->actions[1])); - double desired_vel_h = fmax(-env->max_cmd_vel, fmin(env->max_cmd_vel, (double)env->actions[2])); - - // 4. P Controller: thrust = kp * (desired_vel - current_vel) - // Hovell & Ulrich (2021) Eq. (14): u_t = K_p * (v_t - x_dot_t) - double vel_error_r = desired_vel_r - current_vel_r; - double vel_error_v = desired_vel_v - current_vel_v; - double vel_error_h = desired_vel_h - current_vel_h; - - double thrust_r = env->kp * vel_error_r * env->mass; // F = m * a, a = kp * error - double thrust_v = env->kp * vel_error_v * env->mass; - double thrust_h = env->kp * vel_error_h * env->mass; - - // Clamp thrust to physical limits - thrust_r = fmax(-env->max_thrust, fmin(env->max_thrust, thrust_r)); - thrust_v = fmax(-env->max_thrust, fmin(env->max_thrust, thrust_v)); - thrust_h = fmax(-env->max_thrust, fmin(env->max_thrust, thrust_h)); - - // LVLH thrust vector -> inertial frame - Vec3d thrust_lvlh = add3d( - add3d(scale3d(r_hat, thrust_r), scale3d(v_hat, thrust_v)), - scale3d(h_hat, thrust_h) - ); - - // 3. Compute fuel usage (delta-v) - double thrust_mag = norm3d(thrust_lvlh); - double dv_used = (thrust_mag / env->mass) * env->dt; - double fuel_penalty = 0.0; - if (env->fuel > 0 && thrust_mag > 0) { + // 1. Get thrust actions [-1, 1] -> force in Newtons + double act_x = fmax(-1.0, fmin(1.0, (double)env->actions[0])); + double act_y = fmax(-1.0, fmin(1.0, (double)env->actions[1])); + double act_z = fmax(-1.0, fmin(1.0, (double)env->actions[2])); + + double fx = act_x * env->max_thrust; + double fy = act_y * env->max_thrust; + double fz = act_z * env->max_thrust; + + // 2. Fuel consumption + double f_mag = sqrt(fx*fx + fy*fy + fz*fz); + double dv_used = (f_mag / env->mass) * env->dt; + double ax = fx / env->mass; + double ay = fy / env->mass; + double az = fz / env->mass; + + if (env->fuel > 0 && f_mag > 0) { double actual_dv = fmin(dv_used, env->fuel); env->fuel -= actual_dv; - fuel_penalty = -env->rw_fuel * (actual_dv / env->fuel_budget); - // Scale thrust if we ran out of fuel mid-burn if (actual_dv < dv_used) { double scale = actual_dv / dv_used; - thrust_lvlh = scale3d(thrust_lvlh, scale); + ax *= scale; ay *= scale; az *= scale; } } else if (env->fuel <= 0) { - thrust_lvlh = vec3d(0, 0, 0); // Out of fuel, no thrust + ax = 0; ay = 0; az = 0; } - // 4. Integrate chaser dynamics - integrate_chaser(env, thrust_lvlh); - - // 5. Propagate station analytically - propagate_station(env); - - // 6. Compute termination conditions - // Re-read positions after integration - t_pos = vec3d(env->tx, env->ty, env->tz); - t_vel = vec3d(env->tvx, env->tvy, env->tvz); - c_pos = vec3d(env->cx, env->cy, env->cz); - c_vel = vec3d(env->cvx, env->cvy, env->cvz); - - Vec3d rel_pos = sub3d(c_pos, t_pos); - rel_vel = sub3d(c_vel, t_vel); - double dist = norm3d(rel_pos); - double rel_speed = norm3d(rel_vel); - double c_alt = norm3d(c_pos) - env->earth_radius; + // 3. Integrate CW dynamics + cw_step_rk4(env, ax, ay, az); + + // 4. Compute distance to docking point + double dx = env->x - env->dock_x; + double dy = env->y - env->dock_y; + double dz = env->z - env->dock_z; + double dist = sqrt(dx*dx + dy*dy + dz*dz); + double speed = sqrt(env->vx*env->vx + env->vy*env->vy + env->vz*env->vz); + + // 5. Compute effective dock_speed (annealing) + env->global_step++; + double effective_dock_speed = env->dock_speed; + if (env->anneal_steps > 0) { + double frac = fmin(1.0, (double)env->global_step / (double)env->anneal_steps); + effective_dock_speed = env->dock_speed_start + frac * (env->dock_speed - env->dock_speed_start); + } - int deorbited = (c_alt < env->deorbit_alt); - int escaped = (c_alt > env->escape_alt); + // 6. Check termination conditions + int is_in_los = in_los(env); + int docked = is_in_los && (dist < env->dock_dist) && (speed < effective_dock_speed); + int collision = (env->y < env->dock_y - 5.0); // y < 55m (5m past dock point) int timeout = (env->step_count >= env->max_steps); - // 7. Compute rewards - two-component shaping + // 6. Compute reward (Chen-style, naturally in [-1, 1]) double reward = 0.0; - - // === Component 1: Weak linear shaping (long-range gradient) === - // Provides approach signal at ALL distances, even 500m. - // Coefficient is small so cumulative doesn't drown terminal rewards. - // From 500m: cumulative = 0.005 * 495 = 2.5 - double distance_progress = env->prev_dist - dist; - reward += env->rw_dist_shaping * distance_progress; - - // === Component 2: Exponential near-dock shaping (bounded, drone-style) === - // exp(-dist/R) potential concentrates reward near station. - // Total cumulative bounded at ~1.0 regardless of starting distance. - // Uses rw_vel_match parameter as coefficient (repurposed). - double exp_R = 10.0; // Characteristic distance — signal within ~30m - double exp_shaping = exp(-dist / exp_R) - exp(-env->prev_dist / exp_R); - reward += env->rw_vel_match * exp_shaping; - - // === Proximity-scaled velocity damping === - double eta = 0.1; - double vel_penalty = -env->rw_closing * rel_speed / (dist + eta); - reward += vel_penalty; - - - - // Terminal rewards - graduated docking quality - // dock_clean: dist < 5m, speed < 0.5 m/s -> +10.0 - // dock_rough: dist < 5m, speed 0.5-1.0 m/s -> +3.0 - // crash: dist < 5m, speed >= 1.0 m/s -> -5.0 - int dock_clean = (dist < env->dock_dist) && (rel_speed < env->dock_speed); - int dock_rough = (dist < env->dock_dist) && (rel_speed >= env->dock_speed) && (rel_speed < 1.0); - int crash_dock = (dist < env->dock_dist) && (rel_speed >= 1.0); - - if (dock_clean) { - reward += env->rw_dock; // +10.0 + double progress = env->prev_dist - dist; // positive when approaching dock + + reward += 0.01 * progress; // distance progress + double prox_now = exp(-dist / 20.0); // proximity potential + double prox_prev = exp(-env->prev_dist / 20.0); + reward += 0.1 * (prox_now - prox_prev); // potential-based proximity + // reward -= 0.005 * speed * speed; // velocity damping (disabled) + reward -= 0.005 * (act_x*act_x + act_y*act_y + act_z*act_z); // control cost + reward -= 0.005; // time penalty + + // Terminal rewards (replace per-step reward) + if (docked) { + double speed_bonus = 0.5 * fmax(0.0, 1.0 - speed / effective_dock_speed); + reward = 0.5 + speed_bonus; // speed=0→1.0, speed=dock_speed→0.5 env->terminals[0] = 1; env->log.dock_success += 1.0f; - env->log.final_distance += (float)dist; - env->log.final_rel_speed += (float)rel_speed; - } else if (dock_rough) { - reward += 0.5; // Rough dock - acceptable but less than clean - env->terminals[0] = 1; - env->log.dock_success += 0.5f; // Count as partial success - env->log.final_distance += (float)dist; - env->log.final_rel_speed += (float)rel_speed; - } else if (crash_dock) { - reward -= env->rw_crash; // Crash - too fast, apply penalty + } else if (collision) { + reward = -1.0; env->terminals[0] = 1; env->log.crash_rate += 1.0f; - env->log.final_distance += (float)dist; - env->log.final_rel_speed += (float)rel_speed; - } else if (deorbited) { - reward -= env->rw_deorbit; - env->terminals[0] = 1; - env->log.deorbit_rate += 1.0f; - env->log.final_distance += (float)dist; - env->log.final_rel_speed += (float)rel_speed; - } else if (escaped) { - reward -= env->rw_escape; - env->terminals[0] = 1; - env->log.escape_rate += 1.0f; - env->log.final_distance += (float)dist; - env->log.final_rel_speed += (float)rel_speed; } else if (timeout) { - reward -= 1.0; // Timeout penalty - mission failed + reward = -0.5; env->terminals[0] = 1; env->log.timeout_rate += 1.0f; - env->log.final_distance += (float)dist; - env->log.final_rel_speed += (float)rel_speed; } - env->rewards[0] = (float)reward; + env->rewards[0] = (float)reward; // No scaling needed — naturally in [-1, 1] env->prev_dist = dist; - env->prev_speed = rel_speed; - - // DEBUG: Print first N episodes - if (g_debug_episodes < DEBUG_MAX_EPISODES) { - // Get raw LVLH values (before scaling) for clarity - Vec3d rel_pos_dbg = sub3d(c_pos, t_pos); - Vec3d rel_vel_dbg = sub3d(c_vel, t_vel); - Vec3d r_hat_dbg, v_hat_dbg, h_hat_dbg; - compute_lvlh(t_pos, t_vel, &r_hat_dbg, &v_hat_dbg, &h_hat_dbg); - double rel_r_dbg = dot3d(rel_pos_dbg, r_hat_dbg); - double rel_v_dbg = dot3d(rel_pos_dbg, v_hat_dbg); - double rel_h_dbg = dot3d(rel_pos_dbg, h_hat_dbg); - double rel_vr_dbg = dot3d(rel_vel_dbg, r_hat_dbg); - double rel_vv_dbg = dot3d(rel_vel_dbg, v_hat_dbg); - double rel_vh_dbg = dot3d(rel_vel_dbg, h_hat_dbg); - - const char* terminal_str = ""; - if (dock_clean) terminal_str = "DOCK_CLEAN"; - else if (dock_rough) terminal_str = "DOCK_ROUGH"; - else if (crash_dock) terminal_str = "CRASH"; - else if (deorbited) terminal_str = "DEORBIT"; - else if (escaped) terminal_str = "ESCAPE"; - else if (timeout) terminal_str = "TIMEOUT"; - - printf("EP%d STEP%d | obs:[%.2f, %.2f, %.2f, %.2f, %.2f, %.2f] | " - "dist=%.2f spd=%.2f | cmd_vel=[%.2f,%.2f,%.2f] | reward=%.4f | %s\n", - g_debug_episodes, env->step_count, - rel_r_dbg, rel_v_dbg, rel_h_dbg, // Position in meters - rel_vr_dbg, rel_vv_dbg, rel_vh_dbg, // Velocity in m/s - dist, rel_speed, - desired_vel_r, desired_vel_v, desired_vel_h, // Commanded velocity - reward, - terminal_str); - - if (env->terminals[0]) { - printf("--- END EPISODE %d ---\n\n", g_debug_episodes); - g_debug_episodes++; - } - } // Update log env->log.episode_return += (float)reward; if (env->terminals[0]) { env->log.episode_length += (float)env->step_count; env->log.fuel_used += (float)(env->fuel_budget - env->fuel); + env->log.final_distance += (float)dist; + env->log.final_rel_speed += (float)speed; env->log.n += 1.0f; - // Global curriculum tracking - int docked = dock_clean || dock_rough; - global_curriculum_update(env, docked); - env->log.curriculum_stage += (float)env->curriculum_stage; - c_reset(env); } @@ -738,10 +396,9 @@ void c_step(OrbitalDock* env) { } // ============================================================================ -// Render (implemented in render.h, included separately) +// Render (implemented in render.h) // ============================================================================ -// Forward declarations - implemented in render.h Client* make_client(OrbitalDock *env); void close_client(Client *client); void render_orbital_dock(OrbitalDock *env, Client *client); @@ -749,9 +406,7 @@ void render_orbital_dock(OrbitalDock *env, Client *client); void c_render(OrbitalDock* env) { if (env->client == NULL) { env->client = make_client(env); - if (env->client == NULL) { - return; - } + if (env->client == NULL) return; } render_orbital_dock(env, env->client); } diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.py b/pufferlib/ocean/orbital_dock/orbital_dock.py index d14089764e..b324a475c8 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.py +++ b/pufferlib/ocean/orbital_dock/orbital_dock.py @@ -1,43 +1,17 @@ -'''Orbital rendezvous and docking environment. - -A 3D orbital mechanics environment where the agent controls a chaser spacecraft -that must navigate through space, rendezvous with, and dock to a space station -in orbit. - -Implements hierarchical velocity control (Hovell & Ulrich, 2021): -- Policy outputs DESIRED VELOCITY, not thrust -- P controller converts velocity command to thrust -- This separates guidance (learned) from control (engineered) -- Makes the learning problem much easier - -Key features: -- Full 3D orbital mechanics with gravity -- LVLH (Local Vertical Local Horizontal) reference frame -- Continuous action space for 3-axis velocity commands -- P controller handles thrust generation +'''Orbital rendezvous and docking environment (STELLAR / Chen et al. AAS 2023). + +CW linear relative motion dynamics in LVLH frame. +Direct thrust control with PPO. +Reproduces the STELLAR implementation in PufferLib. ''' import gymnasium import numpy as np -import torch -import torch.nn as nn import pufferlib -import pufferlib.models -import pufferlib.pytorch from pufferlib.ocean.orbital_dock import binding -class Policy(pufferlib.models.Default): - '''Custom policy with lower initial action std for precise velocity control.''' - def __init__(self, env, **kwargs): - super().__init__(env, **kwargs) - if self.is_continuous: - # Start with std=0.37 instead of 1.0 - # More precise initial exploration for docking - nn.init.constant_(self.decoder_logstd, -1.0) - - class OrbitalDock(pufferlib.PufferEnv): def __init__( self, @@ -46,52 +20,42 @@ def __init__( report_interval=128, buf=None, seed=0, - # Physics (defaults match config/ocean/orbital_dock.ini) + # Physics mu=3.986e14, - station_radius=6.771e6, + station_radius=42164000.0, dt=1.0, - max_thrust=5000.0, - mass=10000.0, + max_thrust=10.0, + mass=500.0, fuel_budget=100.0, - max_steps=500, - # Hierarchical velocity control (Hovell & Ulrich 2021) - kp=0.5, # P controller gain - max_cmd_vel=2.0, # Max commanded velocity (m/s) - # Docking conditions - dock_dist=5.0, - dock_speed=0.5, - # Difficulty (unused with hierarchical control) - difficulty=0.0, - # Reward weights - reward_dock=100.0, # Terminal dock bonus - reward_dist_shaping=10.0, # Distance progress scale - reward_closing=0.0, # Unused - reward_vel_match=0.5, # Velocity penalty near dock - reward_fuel_penalty=0.0, # Disabled for now - reward_crash=50.0, # Crash penalty - reward_deorbit=50.0, - reward_escape=50.0, - reward_plane_align=0.0, - reward_node_timing=0.0, + max_steps=2500, + # Docking point (STELLAR: [0, 60, 0] in LVLH) + dock_x=0.0, + dock_y=60.0, + dock_z=0.0, + dock_dist=10.0, + dock_speed=2.0, + dock_speed_start=10.0, + anneal_steps=200000, + # LOS cone + los_angle=60.0, + los_extent=800.0, + # Initial conditions (STELLAR V-bar approach) + init_x_center=0.0, + init_y_center=800.0, + init_z_center=0.0, + init_x_range=400.0, + init_y_range=300.0, + init_z_range=400.0, ): - self.kp = kp - self.max_cmd_vel = max_cmd_vel - - # 14-dimensional observation space - # [rel_r, rel_v, rel_h, rel_vr, rel_vv, rel_vh, dist_norm, closing_speed, - # fuel_remaining, orbit_alt_norm, phase_angle, inclination_diff, - # node_angle, time_remaining] - # Normalized to approximately [-1, 1] using pos_scale=100m, vel_scale=2m/s - # Position obs can exceed [-1,1] at longer distances, so use [-10,10] bounds + # 10-dimensional observation: raw LVLH state + computed features + # [x, y, z, vx, vy, vz, dist, speed, closing_vel, time_remaining] self.single_observation_space = gymnasium.spaces.Box( - low=-10.0, high=10.0, shape=(14,), dtype=np.float32 + low=-2000.0, high=2000.0, shape=(10,), dtype=np.float32 ) - # Continuous action space: desired velocity in LVLH frame - # [vel_r, vel_v, vel_h] in m/s - # Policy outputs desired velocity, P controller converts to thrust + # Continuous action space: normalized thrust fractions in LVLH frame self.single_action_space = gymnasium.spaces.Box( - low=-max_cmd_vel, high=max_cmd_vel, shape=(3,), dtype=np.float32 + low=-1.0, high=1.0, shape=(3,), dtype=np.float32 ) self.render_mode = None if render_mode in (None, 'None') else render_mode @@ -101,7 +65,6 @@ def __init__( super().__init__(buf) - # Initialize C environments self.c_envs = binding.vec_init( self.observations, self.actions, @@ -110,7 +73,6 @@ def __init__( self.truncations, num_envs, seed, - # Physics mu=mu, station_radius=station_radius, dt=dt, @@ -118,25 +80,21 @@ def __init__( mass=mass, fuel_budget=fuel_budget, max_steps=max_steps, - # Hierarchical velocity control - kp=kp, - max_cmd_vel=max_cmd_vel, - # Docking conditions + dock_x=dock_x, + dock_y=dock_y, + dock_z=dock_z, dock_dist=dock_dist, dock_speed=dock_speed, - # Difficulty (unused) - difficulty=difficulty, - # Reward weights - reward_dock=reward_dock, - reward_dist_shaping=reward_dist_shaping, - reward_closing=reward_closing, - reward_vel_match=reward_vel_match, - reward_fuel_penalty=reward_fuel_penalty, - reward_crash=reward_crash, - reward_deorbit=reward_deorbit, - reward_escape=reward_escape, - reward_plane_align=reward_plane_align, - reward_node_timing=reward_node_timing, + dock_speed_start=dock_speed_start, + anneal_steps=anneal_steps, + los_angle=los_angle, + los_extent=los_extent, + init_x_center=init_x_center, + init_y_center=init_y_center, + init_z_center=init_z_center, + init_x_range=init_x_range, + init_y_range=init_y_range, + init_z_range=init_z_range, ) def reset(self, seed=0): @@ -145,13 +103,10 @@ def reset(self, seed=0): return self.observations, [] def step(self, actions): - # Actions are continuous velocity commands [vel_r, vel_v, vel_h] - # The P controller in C code converts these to thrust self.actions[:] = actions self.tick += 1 binding.vec_step(self.c_envs) - # Auto-render when render_mode is 'human' if self.render_mode == 'human': self.render() @@ -172,23 +127,16 @@ def close(self): def test_performance(timeout=10, atn_cache=1024, num_envs=4096): - '''Test environment performance (steps per second).''' + '''Test environment performance.''' import time - env = OrbitalDock(num_envs=num_envs) env.reset() tick = 0 - - # Pre-generate random velocity commands: shape (cache_size, num_envs, 3) - # Range [-max_cmd_vel, max_cmd_vel] - actions = np.random.uniform(-2.0, 2.0, (atn_cache, num_envs, 3)).astype(np.float32) - + actions = np.random.uniform(-1.0, 1.0, (atn_cache, num_envs, 3)).astype(np.float32) start = time.time() while time.time() - start < timeout: - atn = actions[tick % atn_cache] - env.step(atn) + env.step(actions[tick % atn_cache]) tick += 1 - elapsed = time.time() - start sps = int(num_envs * tick / elapsed) print(f'OrbitalDock SPS: {sps:,}') @@ -198,32 +146,31 @@ def test_performance(timeout=10, atn_cache=1024, num_envs=4096): def test_basic(): '''Basic functionality test.''' - print('Testing OrbitalDock basic functionality...') - + print('Testing OrbitalDock (CW dynamics)...') env = OrbitalDock(num_envs=2) obs, _ = env.reset(seed=42) - print(f' Observation shape: {obs.shape}') - print(f' Observation range: [{obs.min():.3f}, {obs.max():.3f}]') + print(f' Obs shape: {obs.shape}') + print(f' Obs range: [{obs.min():.1f}, {obs.max():.1f}]') + print(f' Obs[0]: x={obs[0,0]:.1f} y={obs[0,1]:.1f} z={obs[0,2]:.1f} ' + f'vx={obs[0,3]:.3f} vy={obs[0,4]:.3f} vz={obs[0,5]:.3f}') - # Take a few steps with zero velocity command (coast) - zero_vel = np.zeros((2, 3), dtype=np.float32) + # Coast (zero thrust) + zero = np.zeros((2, 3), dtype=np.float32) for i in range(10): - obs, rewards, terminals, truncations, info = env.step(zero_vel) + obs, r, t, tr, info = env.step(zero) + print(f' After 10 steps (zero thrust):') + print(f' Rewards: {r}') + print(f' Obs[0]: x={obs[0,0]:.1f} y={obs[0,1]:.1f} z={obs[0,2]:.1f}') - print(f' After 10 steps (zero velocity command):') - print(f' Rewards: {rewards}') - print(f' Terminals: {terminals}') - - # Take steps with random velocity commands + # Random thrust for i in range(100): - actions = np.random.uniform(-2.0, 2.0, (2, 3)).astype(np.float32) - obs, rewards, terminals, truncations, info = env.step(actions) - + actions = np.random.uniform(-1.0, 1.0, (2, 3)).astype(np.float32) + obs, r, t, tr, info = env.step(actions) print(f' After 100 random steps:') - print(f' Observation range: [{obs.min():.3f}, {obs.max():.3f}]') + print(f' Obs range: [{obs.min():.1f}, {obs.max():.1f}]') env.close() - print(' Basic test passed!') + print(' Test passed!') if __name__ == '__main__': diff --git a/pufferlib/ocean/torch.py b/pufferlib/ocean/torch.py index c7663c5f5b..b0ef74fb4a 100644 --- a/pufferlib/ocean/torch.py +++ b/pufferlib/ocean/torch.py @@ -826,6 +826,129 @@ def decode_actions(self, flat_hidden): value = self.value_fn(flat_hidden) return action, value +class RunningNorm(nn.Module): + '''Running mean/std observation normalization (Chen et al. 2023). + Tracks statistics during training, normalizes to zero mean / unit variance.''' + def __init__(self, shape, clip=10.0): + super().__init__() + self.register_buffer('mean', torch.zeros(shape)) + self.register_buffer('var', torch.ones(shape)) + self.register_buffer('count', torch.tensor(1e-4)) + self.clip = clip + + def update(self, x): + batch_mean = x.mean(dim=0) + batch_var = x.var(dim=0, unbiased=False) + batch_count = x.shape[0] + delta = batch_mean - self.mean + total = self.count + batch_count + self.mean = self.mean + delta * batch_count / total + m_a = self.var * self.count + m_b = batch_var * batch_count + m2 = m_a + m_b + delta**2 * self.count * batch_count / total + self.var = m2 / total + self.count = total + + def forward(self, x): + if self.training: + self.update(x.detach()) + return torch.clamp((x - self.mean) / torch.sqrt(self.var + 1e-8), + -self.clip, self.clip) + + +class RunningReturnNorm(nn.Module): + '''Return normalization (Chen et al. 2023, Eq. in paper). + Tracks running mean/var of returns across rollouts. + Normalizes: Ĝ = (G - μ(G)) / σ(G)''' + def __init__(self, init_var=2.25e16): + super().__init__() + self.register_buffer('mean', torch.zeros(1)) + self.register_buffer('var', torch.tensor(float(init_var))) + self.register_buffer('count', torch.tensor(1e-4)) + + def update(self, returns): + batch_mean = returns.mean() + batch_var = returns.var() + batch_count = returns.numel() + delta = batch_mean - self.mean + total = self.count + batch_count + self.mean = self.mean + delta * batch_count / total + m_a = self.var * self.count + m_b = batch_var * batch_count + m2 = m_a + m_b + delta**2 * self.count * batch_count / total + self.var = m2 / total + self.count = total + + def normalize(self, returns): + return (returns - self.mean) / torch.sqrt(self.var + 1e-8) + + +class OrbitalDock(pufferlib.models.Default): + '''Separate actor/critic for orbital docking (STELLAR / Chen et al. 2023). + + Actor: encoder -> action mean (MLP, no LSTM) + Critic: independent encoder -> value (no shared weights with actor) + Running observation normalization applied to both paths. + Return normalization across rollouts (paper Eq. Ĝ_T). + Obs: 6 raw LVLH state values [x, y, z, vx, vy, vz]. + ''' + def __init__(self, env, hidden_size=128, **kwargs): + super().__init__(env, hidden_size=hidden_size, **kwargs) + + num_obs = int(np.prod(env.single_observation_space.shape)) + + # Fix actor encoder to 2 layers (Default only creates 1 layer) + self.encoder = nn.Sequential( + pufferlib.pytorch.layer_init(nn.Linear(num_obs, hidden_size)), + nn.GELU(), + pufferlib.pytorch.layer_init(nn.Linear(hidden_size, hidden_size)), + nn.GELU(), + ) + + # Running observation normalization (SB3 VecNormalize: norm_obs=True) + self.obs_norm = RunningNorm(num_obs, clip=10.0) + + # Return normalization (Chen et al. paper) + self.return_norm = RunningReturnNorm() + + # Separate critic network (independent of actor encoder) + self.critic_encoder = nn.Sequential( + pufferlib.pytorch.layer_init(nn.Linear(num_obs, hidden_size)), + nn.GELU(), + pufferlib.pytorch.layer_init(nn.Linear(hidden_size, hidden_size)), + nn.GELU(), + ) + self.critic_value = pufferlib.pytorch.layer_init( + nn.Linear(hidden_size, 1), std=1) + + if self.is_continuous: + nn.init.constant_(self.decoder_logstd, -1.0) + + def encode_observations(self, observations, state=None): + batch_size = observations.shape[0] + obs_flat = observations.view(batch_size, -1).float() + # Normalize observations (running mean/std) + obs_normed = self.obs_norm(obs_flat) + self._last_obs_normed = obs_normed + # Actor encoder + return self.encoder(obs_normed) + + def decode_actions(self, hidden): + if self.is_continuous: + mean = self.decoder_mean(hidden) + logstd = self.decoder_logstd.expand_as(mean) + std = torch.exp(logstd) + logits = torch.distributions.Normal(mean, std) + else: + logits = self.decoder(hidden) + + # Critic: own encoder on normalized observations (no shared weights) + critic_hidden = self.critic_encoder(self._last_obs_normed) + values = self.critic_value(critic_hidden) + + return logits, values + + class Drone(nn.Module): ''' Drone policy. Flattens obs and applies a linear layer. ''' From 7c4edb63e46c47f3c869ab5d01c1201e6eff9c0f Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Sun, 15 Feb 2026 13:42:29 +0100 Subject: [PATCH 09/16] render, 50k speed anneal, proximity breaking reward --- pufferlib/config/ocean/orbital_dock.ini | 2 +- pufferlib/ocean/orbital_dock/orbital_dock.h | 36 +- pufferlib/ocean/orbital_dock/orbital_dock.py | 7 +- pufferlib/ocean/orbital_dock/render.h | 423 +++++++++++++++++++ 4 files changed, 431 insertions(+), 37 deletions(-) create mode 100644 pufferlib/ocean/orbital_dock/render.h diff --git a/pufferlib/config/ocean/orbital_dock.ini b/pufferlib/config/ocean/orbital_dock.ini index d6cc244e4e..a3004a9458 100644 --- a/pufferlib/config/ocean/orbital_dock.ini +++ b/pufferlib/config/ocean/orbital_dock.ini @@ -37,7 +37,7 @@ dock_speed = 2.0 # Set anneal_steps = 0 to disable annealing (use dock_speed directly) # Set dock_speed = 999.0 to revert to Exp 8 (no speed requirement) dock_speed_start = 10.0 -anneal_steps = 350000 +anneal_steps = 50000 # LOS cone (STELLAR: 60 deg total, 800m extent) los_angle = 60.0 los_extent = 800.0 diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.h b/pufferlib/ocean/orbital_dock/orbital_dock.h index eb411f8811..73a0491a05 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.h +++ b/pufferlib/ocean/orbital_dock/orbital_dock.h @@ -35,37 +35,8 @@ typedef struct { float n; // Required as last field } Log; -// ============================================================================ -// Render Client Struct -// ============================================================================ - -#define RENDER_WIDTH 1080 -#define RENDER_HEIGHT 720 -#define TRAIL_LENGTH 256 - -typedef struct { - double x, y, z; -} Vec3d; - -typedef struct { - Vec3d pos[TRAIL_LENGTH]; - int index; - int count; -} Trail; - -typedef struct Client { - Camera3D camera; - float width; - float height; - float camera_distance; - float camera_azimuth; - float camera_elevation; - bool is_dragging; - Vector2 last_mouse_pos; - Trail trail; - float scale; - int last_step; -} Client; +// Forward declaration — full definition in render.h +typedef struct Client Client; // ============================================================================ // Environment Struct @@ -357,7 +328,8 @@ void c_step(OrbitalDock* env) { double prox_now = exp(-dist / 20.0); // proximity potential double prox_prev = exp(-env->prev_dist / 20.0); reward += 0.1 * (prox_now - prox_prev); // potential-based proximity - // reward -= 0.005 * speed * speed; // velocity damping (disabled) + double brake_weight = exp(-dist / 30.0); + reward -= 0.005 * brake_weight * speed * speed; // proximity-weighted braking reward -= 0.005 * (act_x*act_x + act_y*act_y + act_z*act_z); // control cost reward -= 0.005; // time penalty diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.py b/pufferlib/ocean/orbital_dock/orbital_dock.py index b324a475c8..a06599fe36 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.py +++ b/pufferlib/ocean/orbital_dock/orbital_dock.py @@ -1,8 +1,7 @@ -'''Orbital rendezvous and docking environment (STELLAR / Chen et al. AAS 2023). +'''Orbital rendezvous and docking in LVLH frame. -CW linear relative motion dynamics in LVLH frame. -Direct thrust control with PPO. -Reproduces the STELLAR implementation in PufferLib. +Clohessy-Wiltshire relative motion dynamics with RK4 integration. +3-axis continuous thrust control, LOS cone constraint, speed-gated docking. ''' import gymnasium diff --git a/pufferlib/ocean/orbital_dock/render.h b/pufferlib/ocean/orbital_dock/render.h new file mode 100644 index 0000000000..1c3251438b --- /dev/null +++ b/pufferlib/ocean/orbital_dock/render.h @@ -0,0 +1,423 @@ +#ifndef ORBITAL_DOCK_RENDER_H +#define ORBITAL_DOCK_RENDER_H + +#include "raymath.h" + +// ============================================================================ +// Render Client Struct +// ============================================================================ + +#define RENDER_WIDTH 1080 +#define RENDER_HEIGHT 720 +#define TRAIL_LENGTH 256 +#define NUM_STARS 300 + +typedef struct { + double x, y, z; +} Vec3d; + +typedef struct { + Vec3d pos[TRAIL_LENGTH]; + int index; + int count; +} Trail; + +struct Client { + Camera3D camera; + float width; + float height; + float camera_distance; + float camera_azimuth; + float camera_elevation; + bool is_dragging; + Vector2 last_mouse_pos; + Trail trail; + float scale; + int last_step; + double orbit_angle; + double earth_angle; + Vec3d stars[NUM_STARS]; + Model earth_model; + Texture2D earth_texture; +}; + +// Additional colors +static const Color PUFF_GREEN = {0, 187, 0, 255}; +static const Color PUFF_MAGENTA = {187, 0, 187, 255}; + +static inline Vec3d vec3d(double x, double y, double z) { + Vec3d v = {x, y, z}; + return v; +} + +static inline float clampf_render(float v, float lo, float hi) { + return v < lo ? lo : (v > hi ? hi : v); +} + +static void update_camera_position(Client *c) { + float r = c->camera_distance; + float az = c->camera_azimuth; + float el = c->camera_elevation; + + float x = r * cosf(el) * cosf(az); + float y = r * cosf(el) * sinf(az); + float z = r * sinf(el); + + c->camera.position = (Vector3){x, y, z}; + c->camera.target = (Vector3){0, 0, 0}; +} + +static void handle_camera_controls(Client *client) { + Vector2 mouse_pos = GetMousePosition(); + + if (IsMouseButtonPressed(MOUSE_BUTTON_LEFT)) { + client->is_dragging = true; + client->last_mouse_pos = mouse_pos; + } + + if (IsMouseButtonReleased(MOUSE_BUTTON_LEFT)) { + client->is_dragging = false; + } + + if (client->is_dragging && IsMouseButtonDown(MOUSE_BUTTON_LEFT)) { + Vector2 mouse_delta = { + mouse_pos.x - client->last_mouse_pos.x, + mouse_pos.y - client->last_mouse_pos.y + }; + + float sensitivity = 0.005f; + client->camera_azimuth -= mouse_delta.x * sensitivity; + client->camera_elevation += mouse_delta.y * sensitivity; + client->camera_elevation = clampf_render(client->camera_elevation, + -M_PI / 2.0f + 0.1f, + M_PI / 2.0f - 0.1f); + client->last_mouse_pos = mouse_pos; + update_camera_position(client); + } + + // Zoom with mouse wheel + float wheel = GetMouseWheelMove(); + if (wheel != 0) { + client->camera_distance -= wheel * 2.0f; + client->camera_distance = clampf_render(client->camera_distance, 5.0f, 200.0f); + update_camera_position(client); + } +} + +Client* make_client(OrbitalDock *env) { + Client *client = (Client*)calloc(1, sizeof(Client)); + + client->width = RENDER_WIDTH; + client->height = RENDER_HEIGHT; + + SetConfigFlags(FLAG_MSAA_4X_HINT); + InitWindow(RENDER_WIDTH, RENDER_HEIGHT, "PufferLib Orbital Dock"); + SetTargetFPS(60); + + if (!IsWindowReady()) { + free(client); + return NULL; + } + + client->camera_distance = 50.0f; + client->camera_azimuth = M_PI / 4.0f; + client->camera_elevation = M_PI / 6.0f; + client->is_dragging = false; + client->last_mouse_pos = (Vector2){0, 0}; + + client->camera.up = (Vector3){0, 0, 1}; + client->camera.fovy = 45.0f; + client->camera.projection = CAMERA_PERSPECTIVE; + + update_camera_position(client); + + client->scale = 10.0f; + + client->trail.index = 0; + client->trail.count = 0; + client->last_step = -1; + for (int i = 0; i < TRAIL_LENGTH; i++) { + client->trail.pos[i] = vec3d(0, 0, 0); + } + + /* Earth + starfield disabled for now + client->orbit_angle = 0.0; + client->earth_angle = 0.0; + srand(12345); + for (int i = 0; i < NUM_STARS; i++) { + double x, y, z, r2; + do { + x = 2.0 * ((double)rand() / RAND_MAX) - 1.0; + y = 2.0 * ((double)rand() / RAND_MAX) - 1.0; + z = 2.0 * ((double)rand() / RAND_MAX) - 1.0; + r2 = x*x + y*y + z*z; + } while (r2 > 1.0 || r2 < 0.001); + double inv_r = 400.0 / sqrt(r2); + client->stars[i] = vec3d(x * inv_r, y * inv_r, z * inv_r); + } + client->earth_model = LoadModel("resources/orbital_dock/ps1_style_low_poly_earth.glb"); + */ + + return client; +} + +void close_client(Client *client) { + if (client) { + /* UnloadModel(client->earth_model); */ + CloseWindow(); + free(client); + } +} + +// Convert LVLH position to render coordinates +// LVLH: x=R-bar(radial), y=V-bar(prograde), z=H-bar(normal) +// Render: X=V-bar, Y=H-bar, Z=R-bar (nice viewing angle) +static Vector3 lvlh_to_render(Client *client, double lx, double ly, double lz) { + float s = client->scale; + return (Vector3){ + (float)(ly / s), // X = V-bar (prograde) + (float)(lz / s), // Y = H-bar (normal) + (float)(lx / s) // Z = R-bar (radial) + }; +} + +void render_orbital_dock(OrbitalDock *env, Client *client) { + if (WindowShouldClose() || IsKeyDown(KEY_ESCAPE)) { + close_client(client); + exit(0); + } + + handle_camera_controls(client); + WaitTime(0.033); // ~30fps max + + // CW state is already in LVLH relative to station at origin + double dist = sqrt( + (env->x - env->dock_x) * (env->x - env->dock_x) + + (env->y - env->dock_y) * (env->y - env->dock_y) + + (env->z - env->dock_z) * (env->z - env->dock_z)); + double rel_speed = sqrt(env->vx*env->vx + env->vy*env->vy + env->vz*env->vz); + + // Set scale once at episode start + if (env->step_count <= 1) { + double pos_mag = sqrt(env->x*env->x + env->y*env->y + env->z*env->z); + client->scale = fmax(10.0f, fmin(10000.0f, (float)pos_mag / 10.0f)); + } + + // Update trail + if (env->step_count < client->last_step || env->step_count == 0) { + client->trail.count = 0; + client->trail.index = 0; + } + client->last_step = env->step_count; + + if (env->step_count % 5 == 0) { + double s = client->scale; + client->trail.pos[client->trail.index] = vec3d( + env->y / s, env->z / s, env->x / s); + client->trail.index = (client->trail.index + 1) % TRAIL_LENGTH; + if (client->trail.count < TRAIL_LENGTH) { + client->trail.count++; + } + } + + BeginDrawing(); + ClearBackground(PUFF_BACKGROUND); + + BeginMode3D(client->camera); + + // Bounding box: matches drone env scale (~60 render units at camera dist 50) + DrawCubeWires((Vector3){0, 0, 0}, 60.0f, 60.0f, 60.0f, (Color){80, 80, 80, 255}); + + /* Earth + starfield disabled for now + client->orbit_angle += 0.005; + float es = 15.0f; + float theta = (float)client->orbit_angle; + Vector3 earth_pos = {0.0f, 0.0f, -30.0f}; + { + Matrix m = MatrixScale(es, es, es); + m = MatrixMultiply(m, MatrixRotateY(theta)); + m = MatrixMultiply(m, MatrixTranslate(earth_pos.x, earth_pos.y, earth_pos.z)); + client->earth_model.transform = m; + DrawModel(client->earth_model, (Vector3){0, 0, 0}, 1.0f, WHITE); + } + { + double cos_a = cos(client->orbit_angle); + double sin_a = sin(client->orbit_angle); + for (int i = 0; i < NUM_STARS; i++) { + double sx = client->stars[i].x; + double sy = client->stars[i].y; + double sz = client->stars[i].z; + float rx = (float)(sx * cos_a + sz * sin_a); + float ry = (float)sy; + float rz = (float)(-sx * sin_a + sz * cos_a); + float edx = rx - earth_pos.x; + float edy = ry - earth_pos.y; + float edz = rz - earth_pos.z; + if (edx*edx + edy*edy + edz*edz < 18.0f*18.0f) continue; + unsigned char b = (unsigned char)(180 + (i * 73) % 76); + DrawCube((Vector3){rx, ry, rz}, 0.8f, 0.8f, 0.8f, + (Color){b, b, (unsigned char)(b + 15), 255}); + } + } + */ + + // LVLH axes at station (origin) + float axis_len = 8.0f; + DrawLine3D((Vector3){0, 0, 0}, (Vector3){axis_len, 0, 0}, PUFF_GREEN); + DrawSphere((Vector3){axis_len, 0, 0}, 0.2f, PUFF_GREEN); + DrawLine3D((Vector3){0, 0, 0}, (Vector3){0, axis_len, 0}, PUFF_CYAN); + DrawSphere((Vector3){0, axis_len, 0}, 0.2f, PUFF_CYAN); + DrawLine3D((Vector3){0, 0, 0}, (Vector3){0, 0, axis_len}, PUFF_YELLOW); + DrawSphere((Vector3){0, 0, axis_len}, 0.2f, PUFF_YELLOW); + + // Station (cyan cube at origin) + DrawCube((Vector3){0, 0, 0}, 0.5f, 0.5f, 0.5f, PUFF_CYAN); + DrawCubeWires((Vector3){0, 0, 0}, 0.6f, 0.6f, 0.6f, PUFF_WHITE); + + // Docking point (small green sphere) + Vector3 dock_pos = lvlh_to_render(client, env->dock_x, env->dock_y, env->dock_z); + DrawSphere(dock_pos, 0.2f, PUFF_GREEN); + + // Chaser + Vector3 chaser_pos = lvlh_to_render(client, env->x, env->y, env->z); + DrawSphere(chaser_pos, 0.3f, PUFF_WHITE); + + // Velocity vector (magenta) + if (rel_speed > 0.01) { + float vel_vis_scale = 50.0f; + Vector3 vel_end = lvlh_to_render(client, + env->x + env->vx * vel_vis_scale, + env->y + env->vy * vel_vis_scale, + env->z + env->vz * vel_vis_scale); + DrawLine3D(chaser_pos, vel_end, PUFF_MAGENTA); + } + + // Thrust actions + float act_x = env->actions[0]; // R-bar + float act_y = env->actions[1]; // V-bar + float act_z = env->actions[2]; // H-bar + + // Thrust command vector (orange) + float act_mag = sqrtf(act_x*act_x + act_y*act_y + act_z*act_z); + if (act_mag > 0.05f) { + float cmd_scale = 3.0f; + Vector3 cmd_end = { + chaser_pos.x + act_y * cmd_scale, // V-bar -> X + chaser_pos.y + act_z * cmd_scale, // H-bar -> Y + chaser_pos.z + act_x * cmd_scale // R-bar -> Z + }; + DrawLine3D(chaser_pos, cmd_end, PUFF_ORANGE); + DrawSphere(cmd_end, 0.15f, PUFF_ORANGE); + } + + // Docking zone (wireframe sphere around dock point) + float dock_zone_radius = (float)(env->dock_dist / client->scale); + DrawSphereWires(dock_pos, dock_zone_radius, 12, 12, (Color){0, 255, 0, 100}); + + // LOS cone (wireframe from dock point along +y in LVLH) + { + double ha = env->los_half_angle; + double extent = env->los_extent; + int n_seg = 24; + int n_rings = 4; + int n_edges = 8; + Color cone_color = {0, 187, 0, 60}; + + // Draw rings at evenly spaced distances along the cone + for (int ri = 1; ri <= n_rings; ri++) { + double d = extent * ri / n_rings; + double r = d * tan(ha); + for (int i = 0; i < n_seg; i++) { + double a0 = 2.0 * M_PI * i / n_seg; + double a1 = 2.0 * M_PI * (i + 1) / n_seg; + Vector3 p0 = lvlh_to_render(client, + env->dock_x + r * cos(a0), + env->dock_y + d, + env->dock_z + r * sin(a0)); + Vector3 p1 = lvlh_to_render(client, + env->dock_x + r * cos(a1), + env->dock_y + d, + env->dock_z + r * sin(a1)); + DrawLine3D(p0, p1, cone_color); + } + } + + // Draw edge lines from dock point to cone rim + double r_end = extent * tan(ha); + for (int i = 0; i < n_edges; i++) { + double a = 2.0 * M_PI * i / n_edges; + Vector3 tip = dock_pos; + Vector3 rim = lvlh_to_render(client, + env->dock_x + r_end * cos(a), + env->dock_y + extent, + env->dock_z + r_end * sin(a)); + DrawLine3D(tip, rim, cone_color); + } + } + + // Trail + if (client->trail.count > 2) { + for (int j = 0; j < client->trail.count - 1; j++) { + int idx0 = (client->trail.index - j - 1 + TRAIL_LENGTH) % TRAIL_LENGTH; + int idx1 = (client->trail.index - j - 2 + TRAIL_LENGTH) % TRAIL_LENGTH; + + float age_factor = (float)j / (float)client->trail.count; + unsigned char brightness = (unsigned char)(187 * (1.0f - age_factor * 0.8f)); + Color trail_color = {0, brightness, brightness, 255}; + + Vector3 p0 = {(float)client->trail.pos[idx0].x, + (float)client->trail.pos[idx0].y, + (float)client->trail.pos[idx0].z}; + Vector3 p1 = {(float)client->trail.pos[idx1].x, + (float)client->trail.pos[idx1].y, + (float)client->trail.pos[idx1].z}; + DrawLine3D(p0, p1, trail_color); + } + } + + EndMode3D(); + + // HUD + int y = 20; + int dy = 22; + DrawText(TextFormat("Distance to dock: %.1f m", dist), 20, y, 20, PUFF_WHITE); y += dy; + DrawText(TextFormat("Rel Speed: %.2f m/s", rel_speed), 20, y, 20, PUFF_WHITE); y += dy; + DrawText(TextFormat("Fuel: %.1f%%", 100.0 * env->fuel / env->fuel_budget), 20, y, 20, PUFF_WHITE); y += dy; + DrawText(TextFormat("Step: %d / %d", env->step_count, env->max_steps), 20, y, 20, PUFF_WHITE); y += dy; + y += dy/2; + DrawText(TextFormat("Pos: [%.0f, %.0f, %.0f] m", env->x, env->y, env->z), 20, y, 18, (Color){150, 150, 150, 255}); y += dy - 4; + DrawText(TextFormat("Vel: [%.2f, %.2f, %.2f] m/s", env->vx, env->vy, env->vz), 20, y, 18, (Color){150, 150, 150, 255}); y += dy; + DrawText(TextFormat("Scale: %.0f m/unit", client->scale), 20, y, 20, PUFF_WHITE); y += dy; + + y += dy; + DrawText("Thrust Cmd:", 20, y, 20, PUFF_ORANGE); y += dy; + DrawText(TextFormat(" R-bar: %+.0f%%", act_x * 100.0f), 20, y, 18, + act_x > 0.05 ? PUFF_GREEN : (act_x < -0.05 ? PUFF_RED : PUFF_WHITE)); y += dy - 4; + DrawText(TextFormat(" V-bar: %+.0f%%", act_y * 100.0f), 20, y, 18, + act_y > 0.05 ? PUFF_GREEN : (act_y < -0.05 ? PUFF_RED : PUFF_WHITE)); y += dy - 4; + DrawText(TextFormat(" H-bar: %+.0f%%", act_z * 100.0f), 20, y, 18, + act_z > 0.05 ? PUFF_GREEN : (act_z < -0.05 ? PUFF_RED : PUFF_WHITE)); y += dy; + + // Axis legend (right side) + int rx = RENDER_WIDTH - 180; + y = RENDER_HEIGHT - 100; + DrawText("LVLH Axes:", rx, y, 18, PUFF_WHITE); y += 20; + DrawText(" V-bar (prograde)", rx, y, 16, PUFF_GREEN); y += 18; + DrawText(" H-bar (normal)", rx, y, 16, PUFF_CYAN); y += 18; + DrawText(" R-bar (radial)", rx, y, 16, PUFF_YELLOW); + + // Controls + DrawText("Left click + drag: Rotate camera", 20, RENDER_HEIGHT - 40, 16, (Color){150, 150, 150, 255}); + DrawText("Mouse wheel: Zoom | ESC: Exit", 20, RENDER_HEIGHT - 20, 16, (Color){150, 150, 150, 255}); + + // Dock status + if (dist < env->dock_dist && rel_speed < env->dock_speed) { + DrawText("DOCKED!", RENDER_WIDTH/2 - 60, RENDER_HEIGHT/2 - 20, 40, PUFF_GREEN); + } else if (dist < env->dock_dist) { + DrawText("TOO FAST!", RENDER_WIDTH/2 - 70, RENDER_HEIGHT/2 - 20, 40, PUFF_RED); + } + + EndDrawing(); +} + +#endif // ORBITAL_DOCK_RENDER_H From 9472f2d6835700a44e145df602d2988312263cf7 Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Sun, 15 Feb 2026 16:18:25 +0100 Subject: [PATCH 10/16] 99.7% dock rate, earth-target render --- pufferlib/ocean/orbital_dock/binding.c | 4 +- pufferlib/ocean/orbital_dock/debug_test.py | 236 ------- pufferlib/ocean/orbital_dock/orbital_dock.h | 12 +- pufferlib/ocean/orbital_dock/orbital_dock.py | 4 +- pufferlib/ocean/orbital_dock/physics_tests.py | 363 ---------- pufferlib/ocean/orbital_dock/render.h | 546 ++++++++++----- .../ocean/orbital_dock/verification_suite.py | 623 ------------------ .../orbital_dock/ps1_style_low_poly_earth.glb | Bin 0 -> 194432 bytes 8 files changed, 399 insertions(+), 1389 deletions(-) delete mode 100644 pufferlib/ocean/orbital_dock/debug_test.py delete mode 100644 pufferlib/ocean/orbital_dock/physics_tests.py delete mode 100644 pufferlib/ocean/orbital_dock/verification_suite.py create mode 100644 pufferlib/resources/orbital_dock/ps1_style_low_poly_earth.glb diff --git a/pufferlib/ocean/orbital_dock/binding.c b/pufferlib/ocean/orbital_dock/binding.c index 91dcd952f9..2d49a139f7 100644 --- a/pufferlib/ocean/orbital_dock/binding.c +++ b/pufferlib/ocean/orbital_dock/binding.c @@ -16,7 +16,7 @@ static int my_init(Env* env, PyObject* args, PyObject* kwargs) { env->fuel_budget = unpack(kwargs, "fuel_budget"); env->max_steps = (int)unpack(kwargs, "max_steps"); - // Docking point (STELLAR: [0, 60, 0]) + // Docking point ([0, 60, 0]) env->dock_x = unpack(kwargs, "dock_x"); env->dock_y = unpack(kwargs, "dock_y"); env->dock_z = unpack(kwargs, "dock_z"); @@ -31,7 +31,7 @@ static int my_init(Env* env, PyObject* args, PyObject* kwargs) { env->los_half_angle = (los_angle_deg / 2.0) * M_PI / 180.0; env->los_extent = unpack(kwargs, "los_extent"); - // Initial condition ranges (STELLAR V-bar approach) + // Initial condition ranges env->init_x_center = unpack(kwargs, "init_x_center"); env->init_y_center = unpack(kwargs, "init_y_center"); env->init_z_center = unpack(kwargs, "init_z_center"); diff --git a/pufferlib/ocean/orbital_dock/debug_test.py b/pufferlib/ocean/orbital_dock/debug_test.py deleted file mode 100644 index b1d34c880d..0000000000 --- a/pufferlib/ocean/orbital_dock/debug_test.py +++ /dev/null @@ -1,236 +0,0 @@ -"""Debug test for orbital_dock termination conditions.""" -import numpy as np -from pufferlib.ocean.orbital_dock import binding -from pufferlib.ocean.orbital_dock.orbital_dock import OrbitalDock - -def obs_to_state(obs): - """Extract physical state from observation.""" - # obs: [rel_r, rel_v, rel_h, rel_vr, rel_vv, rel_vh, dist_norm, closing_speed, ...] - rel_pos = obs[0:3] * 100.0 # Scale: 100m - rel_vel = obs[3:6] * 2.0 # Scale: 2 m/s - dist = obs[6] * 100.0 - closing_speed = obs[7] * 2.0 - return rel_pos, rel_vel, dist, closing_speed - -def smart_action(obs, dock_dist=5.0, dock_speed=0.5): - """Compute action that moves toward station with velocity control. - - Strategy: - 1. Compute direction to station in LVLH frame - 2. Compute desired velocity (proportional to distance, capped) - 3. Compute velocity error - 4. Apply proportional control - - Key insight: max accel = 500N / 10000kg = 0.05 m/s² - So 1 timestep at full thrust changes velocity by 0.05 m/s. - To close a 0.3 m/s velocity gap, need 6 steps of full thrust. - """ - rel_pos, rel_vel, dist, _ = obs_to_state(obs) - - # Direction from chaser to station (negative of relative position) - # If rel_pos = [0, 0, -6], station is in -H direction, so we want to go -H - dir_to_station = -rel_pos / (dist + 1e-10) - - # Desired closing velocity: proportional to distance, but capped - # Close slowly when near, faster when far - # At 6m, want ~0.25 m/s. At 5m, want ~0.2 m/s. At 10m, want ~0.3 m/s. - max_approach_vel = 0.3 # Stay well under dock_speed of 0.5 - desired_vel_mag = min(max_approach_vel, max(0.1, dist * 0.04)) - - desired_vel = dir_to_station * desired_vel_mag - - # Velocity error - vel_error = desired_vel - rel_vel # [r, v, h] components - - # Proportional control: thrust proportional to velocity error - # Scale factor: 0.05 m/s² max accel, so to close 0.3 m/s gap need full thrust - # gain = 1/0.3 = 3.33 to map 0.3 m/s error -> 1.0 thrust - gain = 4.0 # Aggressive enough to produce meaningful actions - - # Actions are in chaser's LVLH which is approximately same as station's LVLH - # Action dimensions: [prograde, radial, normal] = [v, r, h] - thrust_v = vel_error[1] * gain # V-bar velocity error -> prograde thrust - thrust_r = vel_error[0] * gain # R-bar velocity error -> radial thrust - thrust_h = vel_error[2] * gain # H-bar velocity error -> normal thrust - - # Convert to discrete actions: {-1, -0.5, 0, 0.5, 1} -> {0, 1, 2, 3, 4} - def continuous_to_discrete(x): - if x < -0.75: - return 0 # -100% - elif x < -0.25: - return 1 # -50% - elif x < 0.25: - return 2 # 0% - elif x < 0.75: - return 3 # +50% - else: - return 4 # +100% - - # Clamp thrust commands to [-1, 1] - thrust_v = np.clip(thrust_v, -1, 1) - thrust_r = np.clip(thrust_r, -1, 1) - thrust_h = np.clip(thrust_h, -1, 1) - - action = np.array([ - continuous_to_discrete(thrust_v), - continuous_to_discrete(thrust_r), - continuous_to_discrete(thrust_h) - ], dtype=np.int32) - - return action - -def test_smart_controller(): - """Test smart controller that thrusts toward target.""" - print("="*60) - print("TEST: Smart controller (thrust toward target)") - print("="*60) - - env = OrbitalDock(num_envs=1, difficulty=0.0) - obs, _ = env.reset(seed=42) - - print(f"\nEnvironment params:") - print(f" dock_dist = 5.0m") - print(f" dock_speed = 0.5 m/s") - - rel_pos, rel_vel, dist, closing = obs_to_state(obs[0]) - print(f"\nInitial state:") - print(f" Relative position (LVLH): R={rel_pos[0]:.2f}m, V={rel_pos[1]:.2f}m, H={rel_pos[2]:.2f}m") - print(f" Distance: {dist:.2f}m") - print(f" Station direction: R={-rel_pos[0]/dist:.2f}, V={-rel_pos[1]/dist:.2f}, H={-rel_pos[2]/dist:.2f}") - - print(f"\nRunning smart controller...") - - for step in range(200): - action = smart_action(obs[0]) - obs, rewards, terminals, truncations, info = env.step(action.reshape(1, 3)) - - rel_pos, rel_vel, dist, closing = obs_to_state(obs[0]) - total_rel_speed = np.linalg.norm(rel_vel) - - action_str = f"[{['--','-','0','+','++'][action[0]]},{['--','-','0','+','++'][action[1]]},{['--','-','0','+','++'][action[2]]}]" - - if step < 20 or step % 10 == 0 or dist < 10: - print(f" Step {step+1:3d}: dist={dist:.2f}m, closing={closing:.3f}m/s, " - f"total_v={total_rel_speed:.3f}m/s, r={rewards[0]:.4f}, act={action_str}") - - if terminals[0]: - print(f"\n TERMINATED at step {step+1}") - if rewards[0] > 5.0: - print(f" -> DOCK SUCCESS! reward={rewards[0]:.2f}") - else: - print(f" -> FAILED, reward={rewards[0]:.2f}") - break - - env.close() - -def test_multiple_seeds(): - """Test docking success rate across multiple seeds.""" - print("\n" + "="*60) - print("TEST: Multiple seeds dock rate") - print("="*60) - - n_seeds = 20 - successes = 0 - results = [] - - for seed in range(n_seeds): - env = OrbitalDock(num_envs=1, difficulty=0.0) - obs, _ = env.reset(seed=seed) - - for step in range(300): - action = smart_action(obs[0]) - obs, rewards, terminals, truncations, info = env.step(action.reshape(1, 3)) - - if terminals[0]: - if rewards[0] > 5.0: - successes += 1 - results.append(('DOCK', step+1, rewards[0])) - else: - results.append(('FAIL', step+1, rewards[0])) - break - else: - results.append(('TIMEOUT', 300, 0)) - - env.close() - - print(f"\nResults ({successes}/{n_seeds} = {100*successes/n_seeds:.1f}% dock rate):") - for i, (status, steps, reward) in enumerate(results): - print(f" Seed {i:2d}: {status} at step {steps:3d}, reward={reward:.2f}") - -def test_no_thrust_stability(): - """Test relative position stability with no thrust.""" - print("\n" + "="*60) - print("TEST: No-thrust stability (Verlet integration)") - print("="*60) - - env = OrbitalDock(num_envs=1, difficulty=0.0) - obs, _ = env.reset(seed=42) - no_thrust = np.array([[2, 2, 2]], dtype=np.int32) - - initial_dist = obs[0,6] * 100.0 - print(f"\nInitial distance: {initial_dist:.4f}m") - print(f"Running 100 steps with no thrust...") - - for step in range(100): - obs, rewards, terminals, truncations, info = env.step(no_thrust) - if terminals[0]: - print(f" Terminated at step {step+1}") - break - - final_dist = obs[0,6] * 100.0 - drift = abs(final_dist - initial_dist) - print(f"Final distance: {final_dist:.4f}m") - print(f"Total drift: {drift:.4f}m over 100 steps") - - if drift < 1.0: - print("-> PASS: Drift < 1m") - else: - print("-> FAIL: Drift >= 1m") - - env.close() - -def test_random_agent_baseline(): - """Test random agent to ensure dock is possible by chance.""" - print("\n" + "="*60) - print("TEST: Random agent baseline") - print("="*60) - - n_episodes = 100 - dock_count = 0 - crash_count = 0 - timeout_count = 0 - - for ep in range(n_episodes): - env = OrbitalDock(num_envs=1, difficulty=0.0) - obs, _ = env.reset(seed=ep * 7) - - for step in range(500): - action = np.random.randint(0, 5, (1, 3), dtype=np.int32) - obs, rewards, terminals, truncations, info = env.step(action) - - if terminals[0]: - if rewards[0] > 5.0: - dock_count += 1 - elif rewards[0] < -3.0: - crash_count += 1 - break - else: - timeout_count += 1 - - env.close() - - print(f"\nRandom agent results ({n_episodes} episodes):") - print(f" Dock rate: {dock_count}/{n_episodes} = {100*dock_count/n_episodes:.1f}%") - print(f" Crash rate: {crash_count}/{n_episodes} = {100*crash_count/n_episodes:.1f}%") - print(f" Timeout rate: {timeout_count}/{n_episodes} = {100*timeout_count/n_episodes:.1f}%") - - if dock_count > 0: - print("-> PASS: Random agent can occasionally dock (reward signal exists)") - else: - print("-> WARNING: Random agent never docked (may need easier starting conditions)") - -if __name__ == '__main__': - test_no_thrust_stability() - test_smart_controller() - test_multiple_seeds() - test_random_agent_baseline() diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.h b/pufferlib/ocean/orbital_dock/orbital_dock.h index 73a0491a05..02118fdcd5 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.h +++ b/pufferlib/ocean/orbital_dock/orbital_dock.h @@ -70,7 +70,7 @@ typedef struct { double dt; // Timestep (s) double fuel_budget; // Total delta-v budget (m/s) - // Docking conditions (STELLAR: dock at [0, 60, 0]) + // Docking conditions (dock at [0, 60, 0]) double dock_x, dock_y, dock_z; // Docking point in LVLH double dock_dist; // Docking distance threshold (m) double dock_speed; // Final docking speed threshold (m/s) @@ -78,11 +78,11 @@ typedef struct { int anneal_steps; // Per-env steps to anneal dock_speed (0 = no annealing) int global_step; // Persistent step counter (never resets) - // LOS cone (STELLAR: 60 deg total, 800m extent along +y) + // LOS cone (60 deg total, 800m extent along +y) double los_half_angle; // Half-angle in radians double los_extent; // Max extent along y-axis (m) - // Initial condition ranges (STELLAR V-bar approach) + // Initial condition ranges double init_x_center, init_y_center, init_z_center; double init_x_range, init_y_range, init_z_range; @@ -168,7 +168,7 @@ static void cw_step_rk4(OrbitalDock* env, double ax, double ay, double az) { } // ============================================================================ -// LOS Cone Check (STELLAR: 60 deg total, along +y from docking point) +// LOS Cone Check (60 deg total, along +y from docking point) // ============================================================================ static int in_los(OrbitalDock* env) { @@ -320,7 +320,7 @@ void c_step(OrbitalDock* env) { int collision = (env->y < env->dock_y - 5.0); // y < 55m (5m past dock point) int timeout = (env->step_count >= env->max_steps); - // 6. Compute reward (Chen-style, naturally in [-1, 1]) + // 6. Compute reward double reward = 0.0; double progress = env->prev_dist - dist; // positive when approaching dock @@ -349,7 +349,7 @@ void c_step(OrbitalDock* env) { env->log.timeout_rate += 1.0f; } - env->rewards[0] = (float)reward; // No scaling needed — naturally in [-1, 1] + env->rewards[0] = (float)reward; env->prev_dist = dist; // Update log diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.py b/pufferlib/ocean/orbital_dock/orbital_dock.py index a06599fe36..cb938d4d50 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.py +++ b/pufferlib/ocean/orbital_dock/orbital_dock.py @@ -27,7 +27,7 @@ def __init__( mass=500.0, fuel_budget=100.0, max_steps=2500, - # Docking point (STELLAR: [0, 60, 0] in LVLH) + # Docking point ([0, 60, 0] in LVLH) dock_x=0.0, dock_y=60.0, dock_z=0.0, @@ -38,7 +38,7 @@ def __init__( # LOS cone los_angle=60.0, los_extent=800.0, - # Initial conditions (STELLAR V-bar approach) + # Initial conditions init_x_center=0.0, init_y_center=800.0, init_z_center=0.0, diff --git a/pufferlib/ocean/orbital_dock/physics_tests.py b/pufferlib/ocean/orbital_dock/physics_tests.py deleted file mode 100644 index 2abf0c45af..0000000000 --- a/pufferlib/ocean/orbital_dock/physics_tests.py +++ /dev/null @@ -1,363 +0,0 @@ -"""Physics verification tests for orbital_dock. - -Tests specifically for orbital mechanics: -- Football orbit (CW dynamics at R-bar offset) -- V-bar stability (along-track drift) -""" -import numpy as np -from pufferlib.ocean.orbital_dock import binding -import ctypes - - -def create_test_env_direct(r_bar=0, v_bar=0, h_bar=0, rel_vr=0, rel_vv=0, rel_vh=0): - """Create environment with specific initial conditions by directly setting state. - - Args: - r_bar: Radial offset in meters (positive = above station) - v_bar: Along-track offset in meters (positive = ahead of station) - h_bar: Cross-track offset in meters (positive = north of orbital plane) - rel_vr, rel_vv, rel_vh: Relative velocity components in m/s - """ - # Import here to avoid issues - from pufferlib.ocean.orbital_dock.orbital_dock import OrbitalDock - - # Create environment - env = OrbitalDock(num_envs=1, difficulty=0.0, max_steps=10000) - env.reset(seed=0) - - # Get the C environment pointer - c_env = env.c_envs - - # Physics constants - mu = 3.986e14 - station_radius = 6.771e6 - - # Station state (circular orbit at x=r, moving in +y) - v_circ = np.sqrt(mu / station_radius) - - # Station position and velocity - tx, ty, tz = station_radius, 0.0, 0.0 - tvx, tvy, tvz = 0.0, v_circ, 0.0 - - # LVLH basis at station position - # r_hat = radial outward = [1, 0, 0] - # v_hat = prograde = [0, 1, 0] - # h_hat = normal = [0, 0, 1] - - # Chaser position in inertial frame - cx = tx + r_bar # R-bar offset - cy = ty + v_bar # V-bar offset - cz = tz + h_bar # H-bar offset - - # Chaser velocity (station velocity + relative velocity in LVLH) - cvx = tvx + rel_vr - cvy = tvy + rel_vv - cvz = tvz + rel_vh - - # We need to set these values in the C struct - # The binding uses ctypes, so we need to access the struct directly - # For now, let's use a workaround - modify the observations and rely on - # the fact that the C code will integrate from there - - # Actually, we can't easily modify C state from Python without proper bindings - # Let's create a test that uses the environment's natural starting conditions - # but verifies the physics at larger distances - - return env, (cx, cy, cz, cvx, cvy, cvz), (tx, ty, tz, tvx, tvy, tvz) - - -def test_football_orbit(): - """TEST 6 PROPER: Football orbit at 500m R-bar offset. - - CW dynamics predict a 2:1 elliptical relative orbit when starting - with radial offset and zero relative velocity. - - With chaser 500m below station (R-bar = -500m): - - The chaser will oscillate in R-bar with amplitude 500m - - The chaser will oscillate in V-bar with amplitude 1000m (2:1 ratio) - - One full period is about T_orbit = 2*pi/n where n = sqrt(mu/r^3) - - At r = 6.771e6m, mu = 3.986e14, n = 0.00116 rad/s - - T = 5415 seconds = 5415 steps at dt=1.0 - - We run for 6000 steps to see the full football pattern. - """ - print("="*60) - print("TEST 6 PROPER: Football orbit (500m R-bar, 6000 steps)") - print("="*60) - - from pufferlib.ocean.orbital_dock.orbital_dock import OrbitalDock - - # Create environment with high difficulty to get larger starting distances - # We'll manually check the trajectory - env = OrbitalDock(num_envs=1, difficulty=1.0, max_steps=7000) - obs, _ = env.reset(seed=42) - - # The environment doesn't let us set exact initial conditions easily - # So we'll run the simulation and analyze whatever trajectory we get - - no_thrust = np.array([[2, 2, 2]], dtype=np.int32) - - # Record trajectory - r_bar_traj = [] - v_bar_traj = [] - h_bar_traj = [] - - initial_obs = obs[0].copy() - initial_r = initial_obs[0] * 100.0 # R-bar - initial_v = initial_obs[1] * 100.0 # V-bar - initial_h = initial_obs[2] * 100.0 # H-bar - initial_dist = initial_obs[6] * 100.0 - - print(f"\n Initial conditions (from environment):") - print(f" R-bar: {initial_r:.2f}m") - print(f" V-bar: {initial_v:.2f}m") - print(f" H-bar: {initial_h:.2f}m") - print(f" Total distance: {initial_dist:.2f}m") - - for step in range(6000): - r_bar = obs[0, 0] * 100.0 - v_bar = obs[0, 1] * 100.0 - h_bar = obs[0, 2] * 100.0 - - r_bar_traj.append(r_bar) - v_bar_traj.append(v_bar) - h_bar_traj.append(h_bar) - - obs, rewards, terminals, truncations, info = env.step(no_thrust) - - if terminals[0]: - print(f" Episode terminated at step {step}") - break - - r_bar_traj = np.array(r_bar_traj) - v_bar_traj = np.array(v_bar_traj) - h_bar_traj = np.array(h_bar_traj) - - # Analyze the trajectory - r_range = r_bar_traj.max() - r_bar_traj.min() - v_range = v_bar_traj.max() - v_bar_traj.min() - h_range = h_bar_traj.max() - h_bar_traj.min() - - print(f"\n Trajectory analysis ({len(r_bar_traj)} steps):") - print(f" R-bar range: {r_bar_traj.min():.2f} to {r_bar_traj.max():.2f}m (span: {r_range:.2f}m)") - print(f" V-bar range: {v_bar_traj.min():.2f} to {v_bar_traj.max():.2f}m (span: {v_range:.2f}m)") - print(f" H-bar range: {h_bar_traj.min():.2f} to {h_bar_traj.max():.2f}m (span: {h_range:.2f}m)") - - # CW theory predicts V-bar amplitude should be ~2x R-bar amplitude - # for pure radial starting offset - if r_range > 10 and v_range > 10: # Need significant motion to test - ratio = v_range / r_range - print(f" V-bar/R-bar ratio: {ratio:.2f} (CW theory predicts ~2.0)") - - if 1.5 < ratio < 2.5: - print(" -> PASS: Football orbit ratio approximately correct") - result = True - else: - print(f" -> FAIL: Ratio {ratio:.2f} not close to 2.0") - result = False - else: - # Check if starting conditions had significant R-bar component - if abs(initial_r) < abs(initial_v): - print(" Note: Initial offset was mostly V-bar, not R-bar") - print(" -> SKIP: Need R-bar dominated starting conditions") - result = None - else: - print(f" -> INCONCLUSIVE: Motion too small to analyze") - result = None - - # Save trajectory for plotting - try: - np.savez('/tmp/football_orbit.npz', - r_bar=r_bar_traj, v_bar=v_bar_traj, h_bar=h_bar_traj) - print(f"\n Trajectory saved to /tmp/football_orbit.npz") - print(f" To plot: python -c \"import numpy as np; import matplotlib.pyplot as plt; d=np.load('/tmp/football_orbit.npz'); plt.plot(d['v_bar'], d['r_bar']); plt.xlabel('V-bar (m)'); plt.ylabel('R-bar (m)'); plt.title('Football Orbit'); plt.axis('equal'); plt.savefig('/tmp/football_orbit.png'); print('Saved to /tmp/football_orbit.png')\"") - except Exception as e: - print(f" Could not save trajectory: {e}") - - env.close() - return result - - -def test_vbar_stability(): - """TEST 5 PROPER: V-bar stability at 100m offset. - - A chaser sitting 100m behind the station along-track (V-bar = -100m) - with zero relative velocity should NOT drift away over a full orbit. - - V-bar is the stable direction in Hill frame - small displacements - don't grow (unlike R-bar which causes football orbits). - """ - print("\n" + "="*60) - print("TEST 5 PROPER: V-bar stability (100m V-bar, full orbit)") - print("="*60) - - from pufferlib.ocean.orbital_dock.orbital_dock import OrbitalDock - - # Create environment - we'll check if the drift is bounded - env = OrbitalDock(num_envs=1, difficulty=0.5, max_steps=7000) - obs, _ = env.reset(seed=123) - - no_thrust = np.array([[2, 2, 2]], dtype=np.int32) - - initial_dist = obs[0, 6] * 100.0 - initial_r = obs[0, 0] * 100.0 - initial_v = obs[0, 1] * 100.0 - initial_h = obs[0, 2] * 100.0 - - print(f"\n Initial conditions:") - print(f" R-bar: {initial_r:.2f}m") - print(f" V-bar: {initial_v:.2f}m") - print(f" H-bar: {initial_h:.2f}m") - print(f" Distance: {initial_dist:.2f}m") - - # Track trajectory - distances = [initial_dist] - r_bar_traj = [initial_r] - v_bar_traj = [initial_v] - - # Run for full orbit (~5400 steps) - for step in range(5500): - obs, rewards, terminals, truncations, info = env.step(no_thrust) - - dist = obs[0, 6] * 100.0 - r_bar = obs[0, 0] * 100.0 - v_bar = obs[0, 1] * 100.0 - - distances.append(dist) - r_bar_traj.append(r_bar) - v_bar_traj.append(v_bar) - - if terminals[0]: - print(f" Episode terminated at step {step}") - break - - distances = np.array(distances) - r_bar_traj = np.array(r_bar_traj) - v_bar_traj = np.array(v_bar_traj) - - final_dist = distances[-1] - max_dist = distances.max() - min_dist = distances.min() - - # V-bar stability: if initial offset was mostly V-bar, distance shouldn't grow much - v_bar_fraction = abs(initial_v) / (abs(initial_r) + abs(initial_v) + abs(initial_h) + 1e-10) - - print(f"\n After {len(distances)-1} steps:") - print(f" Final distance: {final_dist:.2f}m") - print(f" Min distance: {min_dist:.2f}m") - print(f" Max distance: {max_dist:.2f}m") - print(f" V-bar fraction of initial offset: {100*v_bar_fraction:.1f}%") - - # Check for stability - growth_ratio = max_dist / initial_dist - - if v_bar_fraction > 0.7: # Mostly V-bar initial offset - if growth_ratio < 1.5: - print(f" -> PASS: V-bar stable (max growth ratio {growth_ratio:.2f})") - result = True - else: - print(f" -> FAIL: V-bar unstable (growth ratio {growth_ratio:.2f})") - result = False - else: - # Had significant R-bar component, will see football orbit - print(f" Note: Initial offset had {100*(1-v_bar_fraction):.1f}% R-bar/H-bar component") - print(f" Growth ratio: {growth_ratio:.2f}") - if growth_ratio < 3.0: # Some growth expected with R-bar - print(f" -> PASS: Mixed offset, moderate growth") - result = True - else: - print(f" -> FAIL: Excessive growth") - result = False - - env.close() - return result - - -def test_observation_ranges(): - """TEST 9 PROPER: Check observation ranges are in [-1, 1] for typical scenarios.""" - print("\n" + "="*60) - print("TEST 9 PROPER: Observation ranges") - print("="*60) - - from pufferlib.ocean.orbital_dock.orbital_dock import OrbitalDock - - all_obs = [] - - # Test at d=0 (typical training scenario) - for seed in range(10): - env = OrbitalDock(num_envs=1, difficulty=0.0) - obs, _ = env.reset(seed=seed) - all_obs.append(obs.copy()) - - # Run some steps with random actions - for step in range(50): - action = np.random.randint(0, 5, (1, 3), dtype=np.int32) - obs, _, terminals, _, _ = env.step(action) - all_obs.append(obs.copy()) - if terminals[0]: - break - - env.close() - - all_obs = np.concatenate(all_obs, axis=0) - - print(f"\n At difficulty=0 ({all_obs.shape[0]} observations):") - print(f" Overall range: [{all_obs.min():.4f}, {all_obs.max():.4f}]") - - # Check each observation dimension - obs_names = ['R-bar', 'V-bar', 'H-bar', 'rel_vr', 'rel_vv', 'rel_vh', - 'dist', 'closing', 'fuel', 'alt', 'phase', 'incl', 'node', 'time'] - - all_in_range = True - for i, name in enumerate(obs_names): - obs_i = all_obs[:, i] - min_val, max_val = obs_i.min(), obs_i.max() - in_range = min_val >= -1.5 and max_val <= 1.5 - status = "OK" if in_range else "!" - print(f" {name:12s}: [{min_val:7.4f}, {max_val:7.4f}] {status}") - if not in_range: - all_in_range = False - - if all_in_range: - print(" -> PASS: All observations approximately in [-1, 1]") - else: - print(" -> WARN: Some observations exceed [-1, 1]") - - return all_in_range - - -def test_starting_distance(): - """Verify starting distance is 30-50m at d=0.""" - print("\n" + "="*60) - print("TEST: Starting distance at d=0") - print("="*60) - - from pufferlib.ocean.orbital_dock.orbital_dock import OrbitalDock - - distances = [] - for seed in range(20): - env = OrbitalDock(num_envs=1, difficulty=0.0) - obs, _ = env.reset(seed=seed) - dist = obs[0, 6] * 100.0 - distances.append(dist) - env.close() - - distances = np.array(distances) - print(f"\n Starting distances at d=0:") - print(f" Min: {distances.min():.2f}m") - print(f" Max: {distances.max():.2f}m") - print(f" Mean: {distances.mean():.2f}m") - - if 25 < distances.min() and distances.max() < 60: - print(" -> PASS: Starting distance in 30-50m range") - return True - else: - print(" -> FAIL: Starting distance not in expected range") - return False - - -if __name__ == '__main__': - test_starting_distance() - test_observation_ranges() - test_vbar_stability() - test_football_orbit() diff --git a/pufferlib/ocean/orbital_dock/render.h b/pufferlib/ocean/orbital_dock/render.h index 1c3251438b..7049694fbd 100644 --- a/pufferlib/ocean/orbital_dock/render.h +++ b/pufferlib/ocean/orbital_dock/render.h @@ -2,6 +2,7 @@ #define ORBITAL_DOCK_RENDER_H #include "raymath.h" +#include // ============================================================================ // Render Client Struct @@ -11,6 +12,15 @@ #define RENDER_HEIGHT 720 #define TRAIL_LENGTH 256 #define NUM_STARS 300 +#define EARTH_RADIUS_M 6371000.0 +#define GEO_RADIUS_M 42164000.0 +#define VISUAL_ORBIT_TIME_SCALE 30.0 +#define VISUAL_PATH_DIRECTION -1.0 // Orbit path direction around Earth in render +#define VISUAL_VBAR_DIRECTION 1.0 // Keep LVLH +V-bar orientation as configured +#define VISUAL_SPIN_TIME_SCALE 2.0 +#define VISUAL_EARTH_SPIN_MULT 60.0 +#define LVLH_OVERLAY_SCALE_M 40.0 +#define LVLH_VIS_MAX_M 900.0 typedef struct { double x, y, z; @@ -29,16 +39,30 @@ struct Client { float camera_distance; float camera_azimuth; float camera_elevation; + float camera_min_distance; + float camera_max_distance; bool is_dragging; Vector2 last_mouse_pos; + Trail trail; - float scale; + float far_scale; // Far background scale for docking mode + float star_radius; int last_step; - double orbit_angle; - double earth_angle; + + // Render-only analytical orbital state + double mean_motion; + double theta; + double earth_spin_angle; + Vec3d rs; + Vec3d rhat; + Vec3d vhat; + Vec3d hhat; + Vec3d stars[NUM_STARS]; Model earth_model; - Texture2D earth_texture; + bool earth_loaded; + Vector3 earth_center; + float earth_model_radius; }; // Additional colors @@ -50,11 +74,62 @@ static inline Vec3d vec3d(double x, double y, double z) { return v; } +static inline Vec3d vec3d_add(Vec3d a, Vec3d b) { + return vec3d(a.x + b.x, a.y + b.y, a.z + b.z); +} + +static inline Vec3d vec3d_scale(Vec3d a, double s) { + return vec3d(a.x * s, a.y * s, a.z * s); +} + +static inline double vec3d_dot(Vec3d a, Vec3d b) { + return a.x * b.x + a.y * b.y + a.z * b.z; +} + +static inline Vec3d vec3d_cross(Vec3d a, Vec3d b) { + return vec3d( + a.y * b.z - a.z * b.y, + a.z * b.x - a.x * b.z, + a.x * b.y - a.y * b.x + ); +} + +static inline double vec3d_norm(Vec3d a) { + return sqrt(vec3d_dot(a, a)); +} + +static inline Vec3d vec3d_normalize(Vec3d a, Vec3d fallback) { + double n = vec3d_norm(a); + if (n < 1e-12) return fallback; + return vec3d_scale(a, 1.0 / n); +} + static inline float clampf_render(float v, float lo, float hi) { return v < lo ? lo : (v > hi ? hi : v); } -static void update_camera_position(Client *c) { +static inline unsigned int render_xorshift32(unsigned int* state) { + unsigned int x = *state; + x ^= x << 13; + x ^= x >> 17; + x ^= x << 5; + *state = x; + return x; +} + +static inline double render_rand_signed(unsigned int* state) { + return 2.0 * ((double)render_xorshift32(state) / (double)0xFFFFFFFF) - 1.0; +} + +static void set_default_camera(Client *client) { + client->camera_distance = 170.0f; + client->camera_azimuth = -0.72f; + client->camera_elevation = 0.26f; + client->camera_min_distance = 12.0f; + client->camera_max_distance = 360.0f; +} + +static void update_camera_position(Client *c, Vector3 target) { float r = c->camera_distance; float az = c->camera_azimuth; float el = c->camera_elevation; @@ -63,8 +138,8 @@ static void update_camera_position(Client *c) { float y = r * cosf(el) * sinf(az); float z = r * sinf(el); - c->camera.position = (Vector3){x, y, z}; - c->camera.target = (Vector3){0, 0, 0}; + c->camera.position = (Vector3){target.x + x, target.y + y, target.z + z}; + c->camera.target = target; } static void handle_camera_controls(Client *client) { @@ -92,18 +167,48 @@ static void handle_camera_controls(Client *client) { -M_PI / 2.0f + 0.1f, M_PI / 2.0f - 0.1f); client->last_mouse_pos = mouse_pos; - update_camera_position(client); } - // Zoom with mouse wheel float wheel = GetMouseWheelMove(); if (wheel != 0) { client->camera_distance -= wheel * 2.0f; - client->camera_distance = clampf_render(client->camera_distance, 5.0f, 200.0f); - update_camera_position(client); + client->camera_distance = clampf_render(client->camera_distance, + client->camera_min_distance, + client->camera_max_distance); } } +static void update_orbital_basis(Client *client, OrbitalDock *env) { + double R = env->station_radius; + client->mean_motion = sqrt(env->mu / (R * R * R)); + + // Use global_step so visual orbit is continuous across episode resets. + double t = (double)env->global_step * env->dt * VISUAL_ORBIT_TIME_SCALE; + double path_dir = VISUAL_PATH_DIRECTION; + client->theta = fmod(path_dir * t * client->mean_motion, 2.0 * M_PI); + if (client->theta < 0.0) client->theta += 2.0 * M_PI; + + double c = cos(client->theta); + double s = sin(client->theta); + // Orbit in X-Y plane (normal +Z) to match renderer's Z-up convention. + client->rs = vec3d(R * c, R * s, 0.0); + client->rhat = vec3d_normalize(client->rs, vec3d(1.0, 0.0, 0.0)); + client->hhat = vec3d(0.0, 0.0, 1.0); + client->vhat = vec3d_normalize(vec3d_cross(client->hhat, client->rhat), + vec3d(0.0, 1.0, 0.0)); + if (VISUAL_VBAR_DIRECTION < 0.0) { + client->vhat = vec3d_scale(client->vhat, -1.0); + } +} + +static Vector3 eci_to_render(Vec3d p_eci, float meters_per_unit) { + return (Vector3){ + (float)(p_eci.x / meters_per_unit), + (float)(p_eci.y / meters_per_unit), + (float)(p_eci.z / meters_per_unit) + }; +} + Client* make_client(OrbitalDock *env) { Client *client = (Client*)calloc(1, sizeof(Client)); @@ -119,9 +224,6 @@ Client* make_client(OrbitalDock *env) { return NULL; } - client->camera_distance = 50.0f; - client->camera_azimuth = M_PI / 4.0f; - client->camera_elevation = M_PI / 6.0f; client->is_dragging = false; client->last_mouse_pos = (Vector2){0, 0}; @@ -129,9 +231,11 @@ Client* make_client(OrbitalDock *env) { client->camera.fovy = 45.0f; client->camera.projection = CAMERA_PERSPECTIVE; - update_camera_position(client); + set_default_camera(client); + update_camera_position(client, (Vector3){0, 0, 0}); - client->scale = 10.0f; + client->far_scale = (float)fmax(1.0, env->station_radius / 42.0); + client->star_radius = 520.0f; client->trail.index = 0; client->trail.count = 0; @@ -140,45 +244,169 @@ Client* make_client(OrbitalDock *env) { client->trail.pos[i] = vec3d(0, 0, 0); } - /* Earth + starfield disabled for now - client->orbit_angle = 0.0; - client->earth_angle = 0.0; - srand(12345); + update_orbital_basis(client, env); + + unsigned int seed = 0xC0FFEE01u; for (int i = 0; i < NUM_STARS; i++) { double x, y, z, r2; do { - x = 2.0 * ((double)rand() / RAND_MAX) - 1.0; - y = 2.0 * ((double)rand() / RAND_MAX) - 1.0; - z = 2.0 * ((double)rand() / RAND_MAX) - 1.0; + x = render_rand_signed(&seed); + y = render_rand_signed(&seed); + z = render_rand_signed(&seed); r2 = x*x + y*y + z*z; } while (r2 > 1.0 || r2 < 0.001); - double inv_r = 400.0 / sqrt(r2); + double inv_r = 1.0 / sqrt(r2); client->stars[i] = vec3d(x * inv_r, y * inv_r, z * inv_r); } + client->earth_model = LoadModel("resources/orbital_dock/ps1_style_low_poly_earth.glb"); - */ + client->earth_loaded = client->earth_model.meshCount > 0; + client->earth_center = (Vector3){0.0f, 0.0f, 0.0f}; + client->earth_model_radius = 1.0f; + if (client->earth_loaded && client->earth_model.meshCount > 0) { + Vector3 bb_min = (Vector3){FLT_MAX, FLT_MAX, FLT_MAX}; + Vector3 bb_max = (Vector3){-FLT_MAX, -FLT_MAX, -FLT_MAX}; + for (int i = 0; i < client->earth_model.meshCount; i++) { + BoundingBox bb = GetMeshBoundingBox(client->earth_model.meshes[i]); + bb_min.x = fminf(bb_min.x, bb.min.x); + bb_min.y = fminf(bb_min.y, bb.min.y); + bb_min.z = fminf(bb_min.z, bb.min.z); + bb_max.x = fmaxf(bb_max.x, bb.max.x); + bb_max.y = fmaxf(bb_max.y, bb.max.y); + bb_max.z = fmaxf(bb_max.z, bb.max.z); + } + client->earth_center = (Vector3){ + 0.5f * (bb_min.x + bb_max.x), + 0.5f * (bb_min.y + bb_max.y), + 0.5f * (bb_min.z + bb_max.z) + }; + float hx = 0.5f * (bb_max.x - bb_min.x); + float hy = 0.5f * (bb_max.y - bb_min.y); + float hz = 0.5f * (bb_max.z - bb_min.z); + float r = sqrtf(hx*hx + hy*hy + hz*hz); + client->earth_model_radius = fmaxf(1e-4f, r); + Matrix center = MatrixTranslate( + -client->earth_center.x, + -client->earth_center.y, + -client->earth_center.z + ); + Matrix align = MatrixRotateX(PI / 2.0f); + client->earth_model.transform = MatrixMultiply(align, center); + } + client->earth_spin_angle = 0.0; return client; } void close_client(Client *client) { if (client) { - /* UnloadModel(client->earth_model); */ + if (client->earth_loaded) { + UnloadModel(client->earth_model); + } CloseWindow(); free(client); } } -// Convert LVLH position to render coordinates -// LVLH: x=R-bar(radial), y=V-bar(prograde), z=H-bar(normal) -// Render: X=V-bar, Y=H-bar, Z=R-bar (nice viewing angle) -static Vector3 lvlh_to_render(Client *client, double lx, double ly, double lz) { - float s = client->scale; - return (Vector3){ - (float)(ly / s), // X = V-bar (prograde) - (float)(lz / s), // Y = H-bar (normal) - (float)(lx / s) // Z = R-bar (radial) - }; +static void draw_earth_model(Client *client, Vector3 render_pos, float model_scale) { + if (!client->earth_loaded) { + DrawSphere(render_pos, model_scale, (Color){30, 90, 180, 255}); + return; + } + + float draw_scale = model_scale / client->earth_model_radius; + DrawModelEx(client->earth_model, + render_pos, + (Vector3){0.0f, 0.0f, 1.0f}, + RAD2DEG * (float)client->earth_spin_angle, + (Vector3){draw_scale, draw_scale, draw_scale}, + WHITE); +} + +static void draw_orbit_ring_scaled(OrbitalDock *env, float eci_meters_per_unit, Color color) { + const int n_seg = 192; + for (int i = 0; i < n_seg; i++) { + double t0 = 2.0 * M_PI * i / n_seg; + double t1 = 2.0 * M_PI * (i + 1) / n_seg; + Vec3d p0 = vec3d(env->station_radius * cos(t0), env->station_radius * sin(t0), 0.0); + Vec3d p1 = vec3d(env->station_radius * cos(t1), env->station_radius * sin(t1), 0.0); + DrawLine3D(eci_to_render(p0, eci_meters_per_unit), + eci_to_render(p1, eci_meters_per_unit), color); + } +} + +static void draw_station_trail_scaled(Client *client, OrbitalDock *env, float eci_meters_per_unit, Color base_color) { + const int n_pts = 220; + double dtheta = client->mean_motion * env->dt * 3.0; + for (int i = 0; i < n_pts - 1; i++) { + double t0 = client->theta - dtheta * i; + double t1 = client->theta - dtheta * (i + 1); + Vec3d p0 = vec3d(env->station_radius * cos(t0), env->station_radius * sin(t0), 0.0); + Vec3d p1 = vec3d(env->station_radius * cos(t1), env->station_radius * sin(t1), 0.0); + float age = (float)i / (float)n_pts; + float fade = 1.0f - age; + unsigned char r = (unsigned char)(base_color.r * (0.3f + 0.7f * fade)); + unsigned char g = (unsigned char)(base_color.g * (0.3f + 0.7f * fade)); + unsigned char b = (unsigned char)(base_color.b * (0.3f + 0.7f * fade)); + Color c = {r, g, b, (unsigned char)(230.0f * fade)}; + DrawLine3D(eci_to_render(p0, eci_meters_per_unit), + eci_to_render(p1, eci_meters_per_unit), c); + } +} + +// Render LVLH offsets as a local overlay around the station: +// station position uses far-scene scale, relative offsets use local overlay scale. +static Vector3 lvlh_to_orbit_overlay_render(Client *client, + double x, double y, double z, + float station_m_per_unit, + float overlay_m_per_unit) { + Vec3d delta_eci = vec3d_add( + vec3d_scale(client->rhat, x), + vec3d_add(vec3d_scale(client->vhat, y), vec3d_scale(client->hhat, z))); + Vector3 station = eci_to_render(client->rs, station_m_per_unit); + Vector3 delta = eci_to_render(delta_eci, overlay_m_per_unit); + return (Vector3){station.x + delta.x, station.y + delta.y, station.z + delta.z}; +} + +// Convert a pure LVLH direction/offset (meters) into render delta for overlay scale. +static Vector3 lvlh_overlay_delta_render(Client *client, + double x, double y, double z, + float overlay_m_per_unit) { + Vec3d delta_eci = vec3d_add( + vec3d_scale(client->rhat, x), + vec3d_add(vec3d_scale(client->vhat, y), vec3d_scale(client->hhat, z))); + return eci_to_render(delta_eci, overlay_m_per_unit); +} + +static Vector3 lvlh_to_orbit_render_clamped(Client *client, + double x, double y, double z, + float station_m_per_unit, + float overlay_m_per_unit, + double max_range_m, + bool *clipped_out) { + double r = sqrt(x*x + y*y + z*z); + double k = 1.0; + bool clipped = false; + if (r > max_range_m && r > 1e-6) { + k = max_range_m / r; + clipped = true; + } + if (clipped_out) *clipped_out = clipped; + return lvlh_to_orbit_overlay_render(client, x * k, y * k, z * k, + station_m_per_unit, overlay_m_per_unit); +} + +static void draw_stars(Client *client) { + for (int i = 0; i < NUM_STARS; i++) { + Vector3 p = (Vector3){ + (float)(client->stars[i].x * client->star_radius), + (float)(client->stars[i].y * client->star_radius), + (float)(client->stars[i].z * client->star_radius) + }; + unsigned char b = (unsigned char)(180 + (i * 73) % 76); + DrawCubeV(p, (Vector3){1.00f, 1.00f, 1.00f}, + (Color){b, b, b, 255}); + } } void render_orbital_dock(OrbitalDock *env, Client *client) { @@ -190,6 +418,14 @@ void render_orbital_dock(OrbitalDock *env, Client *client) { handle_camera_controls(client); WaitTime(0.033); // ~30fps max + update_orbital_basis(client, env); + const double earth_spin_rate = 7.2921159e-5; // rad/s + client->earth_spin_angle = fmod( + (double)env->global_step * env->dt * earth_spin_rate + * VISUAL_SPIN_TIME_SCALE * VISUAL_EARTH_SPIN_MULT, + 2.0 * M_PI + ); + // CW state is already in LVLH relative to station at origin double dist = sqrt( (env->x - env->dock_x) * (env->x - env->dock_x) + @@ -197,13 +433,7 @@ void render_orbital_dock(OrbitalDock *env, Client *client) { (env->z - env->dock_z) * (env->z - env->dock_z)); double rel_speed = sqrt(env->vx*env->vx + env->vy*env->vy + env->vz*env->vz); - // Set scale once at episode start - if (env->step_count <= 1) { - double pos_mag = sqrt(env->x*env->x + env->y*env->y + env->z*env->z); - client->scale = fmax(10.0f, fmin(10000.0f, (float)pos_mag / 10.0f)); - } - - // Update trail + // Update local LVLH trail for docking mode if (env->step_count < client->last_step || env->step_count == 0) { client->trail.count = 0; client->trail.index = 0; @@ -211,151 +441,145 @@ void render_orbital_dock(OrbitalDock *env, Client *client) { client->last_step = env->step_count; if (env->step_count % 5 == 0) { - double s = client->scale; - client->trail.pos[client->trail.index] = vec3d( - env->y / s, env->z / s, env->x / s); + client->trail.pos[client->trail.index] = vec3d(env->x, env->y, env->z); client->trail.index = (client->trail.index + 1) % TRAIL_LENGTH; if (client->trail.count < TRAIL_LENGTH) { client->trail.count++; } } + float act_x = env->actions[0]; // R-bar + float act_y = env->actions[1]; // V-bar + float act_z = env->actions[2]; // H-bar + + // Station position in the far-orbit visual scale (used by docking mode). + Vector3 station_far = eci_to_render(client->rs, client->far_scale); + float lvlh_scale_overlay = LVLH_OVERLAY_SCALE_M; + BeginDrawing(); - ClearBackground(PUFF_BACKGROUND); + ClearBackground(BLACK); + + update_camera_position(client, station_far); BeginMode3D(client->camera); - // Bounding box: matches drone env scale (~60 render units at camera dist 50) - DrawCubeWires((Vector3){0, 0, 0}, 60.0f, 60.0f, 60.0f, (Color){80, 80, 80, 255}); + // DOCKING view: Earth-centered, LVLH frame moves along station orbit. + float orbit_radius = (float)(env->station_radius / client->far_scale); + float earth_radius = orbit_radius * (float)(EARTH_RADIUS_M / GEO_RADIUS_M); + + draw_stars(client); + draw_earth_model(client, (Vector3){0, 0, 0}, earth_radius); + draw_orbit_ring_scaled(env, client->far_scale, (Color){85, 115, 165, 95}); + draw_station_trail_scaled(client, env, client->far_scale, (Color){0, 230, 255, 255}); + + // Station marker (match old LVLH cue) + DrawCube(station_far, 0.45f, 0.45f, 0.45f, PUFF_CYAN); + DrawCubeWires(station_far, 0.58f, 0.58f, 0.58f, PUFF_WHITE); - /* Earth + starfield disabled for now - client->orbit_angle += 0.005; - float es = 15.0f; - float theta = (float)client->orbit_angle; - Vector3 earth_pos = {0.0f, 0.0f, -30.0f}; + // LVLH triad at station in ECI-aligned render coordinates. { - Matrix m = MatrixScale(es, es, es); - m = MatrixMultiply(m, MatrixRotateY(theta)); - m = MatrixMultiply(m, MatrixTranslate(earth_pos.x, earth_pos.y, earth_pos.z)); - client->earth_model.transform = m; - DrawModel(client->earth_model, (Vector3){0, 0, 0}, 1.0f, WHITE); - } - { - double cos_a = cos(client->orbit_angle); - double sin_a = sin(client->orbit_angle); - for (int i = 0; i < NUM_STARS; i++) { - double sx = client->stars[i].x; - double sy = client->stars[i].y; - double sz = client->stars[i].z; - float rx = (float)(sx * cos_a + sz * sin_a); - float ry = (float)sy; - float rz = (float)(-sx * sin_a + sz * cos_a); - float edx = rx - earth_pos.x; - float edy = ry - earth_pos.y; - float edz = rz - earth_pos.z; - if (edx*edx + edy*edy + edz*edz < 18.0f*18.0f) continue; - unsigned char b = (unsigned char)(180 + (i * 73) % 76); - DrawCube((Vector3){rx, ry, rz}, 0.8f, 0.8f, 0.8f, - (Color){b, b, (unsigned char)(b + 15), 255}); - } - } - */ - - // LVLH axes at station (origin) - float axis_len = 8.0f; - DrawLine3D((Vector3){0, 0, 0}, (Vector3){axis_len, 0, 0}, PUFF_GREEN); - DrawSphere((Vector3){axis_len, 0, 0}, 0.2f, PUFF_GREEN); - DrawLine3D((Vector3){0, 0, 0}, (Vector3){0, axis_len, 0}, PUFF_CYAN); - DrawSphere((Vector3){0, axis_len, 0}, 0.2f, PUFF_CYAN); - DrawLine3D((Vector3){0, 0, 0}, (Vector3){0, 0, axis_len}, PUFF_YELLOW); - DrawSphere((Vector3){0, 0, axis_len}, 0.2f, PUFF_YELLOW); - - // Station (cyan cube at origin) - DrawCube((Vector3){0, 0, 0}, 0.5f, 0.5f, 0.5f, PUFF_CYAN); - DrawCubeWires((Vector3){0, 0, 0}, 0.6f, 0.6f, 0.6f, PUFF_WHITE); - - // Docking point (small green sphere) - Vector3 dock_pos = lvlh_to_render(client, env->dock_x, env->dock_y, env->dock_z); - DrawSphere(dock_pos, 0.2f, PUFF_GREEN); - - // Chaser - Vector3 chaser_pos = lvlh_to_render(client, env->x, env->y, env->z); - DrawSphere(chaser_pos, 0.3f, PUFF_WHITE); - - // Velocity vector (magenta) - if (rel_speed > 0.01) { - float vel_vis_scale = 50.0f; - Vector3 vel_end = lvlh_to_render(client, - env->x + env->vx * vel_vis_scale, - env->y + env->vy * vel_vis_scale, - env->z + env->vz * vel_vis_scale); - DrawLine3D(chaser_pos, vel_end, PUFF_MAGENTA); + float axis_len = 6.0f; + double axis_m = axis_len * client->far_scale; + Vector3 r_axis = eci_to_render(vec3d_add(client->rs, vec3d_scale(client->rhat, axis_m)), client->far_scale); + Vector3 v_axis = eci_to_render(vec3d_add(client->rs, vec3d_scale(client->vhat, axis_m)), client->far_scale); + Vector3 h_axis = eci_to_render(vec3d_add(client->rs, vec3d_scale(client->hhat, axis_m)), client->far_scale); + DrawLine3D(station_far, v_axis, PUFF_GREEN); + DrawLine3D(station_far, h_axis, PUFF_CYAN); + DrawLine3D(station_far, r_axis, PUFF_YELLOW); + DrawSphere(v_axis, 0.18f, PUFF_GREEN); + DrawSphere(h_axis, 0.18f, PUFF_CYAN); + DrawSphere(r_axis, 0.18f, PUFF_YELLOW); } - // Thrust actions - float act_x = env->actions[0]; // R-bar - float act_y = env->actions[1]; // V-bar - float act_z = env->actions[2]; // H-bar + Vector3 dock_pos = lvlh_to_orbit_overlay_render(client, env->dock_x, env->dock_y, env->dock_z, + client->far_scale, lvlh_scale_overlay); + DrawSphere(dock_pos, 0.24f, PUFF_GREEN); + + Vector3 chaser_pos = lvlh_to_orbit_render_clamped(client, env->x, env->y, env->z, + client->far_scale, lvlh_scale_overlay, + LVLH_VIS_MAX_M, + NULL); + DrawSphere(chaser_pos, 0.32f, PUFF_WHITE); + + // Purple heading/velocity cue: always draw from visible chaser marker. + if (rel_speed > 0.001) { + double vnorm = 1.0 / rel_speed; + double hx = env->vx * vnorm; + double hy = env->vy * vnorm; + double hz = env->vz * vnorm; + Vector3 hdelta = lvlh_overlay_delta_render(client, + hx * 160.0, hy * 160.0, hz * 160.0, lvlh_scale_overlay); + Vector3 heading_end = { + chaser_pos.x + hdelta.x, + chaser_pos.y + hdelta.y, + chaser_pos.z + hdelta.z + }; + DrawLine3D(chaser_pos, heading_end, PUFF_MAGENTA); + DrawSphere(heading_end, 0.12f, PUFF_MAGENTA); + } - // Thrust command vector (orange) float act_mag = sqrtf(act_x*act_x + act_y*act_y + act_z*act_z); - if (act_mag > 0.05f) { - float cmd_scale = 3.0f; + // Orange thrust cue: always draw from visible chaser marker. + if (act_mag > 0.02f) { + Vector3 cdelta = lvlh_overlay_delta_render(client, + act_x * 160.0, act_y * 160.0, act_z * 160.0, lvlh_scale_overlay); Vector3 cmd_end = { - chaser_pos.x + act_y * cmd_scale, // V-bar -> X - chaser_pos.y + act_z * cmd_scale, // H-bar -> Y - chaser_pos.z + act_x * cmd_scale // R-bar -> Z + chaser_pos.x + cdelta.x, + chaser_pos.y + cdelta.y, + chaser_pos.z + cdelta.z }; DrawLine3D(chaser_pos, cmd_end, PUFF_ORANGE); - DrawSphere(cmd_end, 0.15f, PUFF_ORANGE); + DrawSphere(cmd_end, 0.20f, PUFF_ORANGE); } - // Docking zone (wireframe sphere around dock point) - float dock_zone_radius = (float)(env->dock_dist / client->scale); + float dock_zone_radius = fmaxf(0.12f, (float)(env->dock_dist / lvlh_scale_overlay)); DrawSphereWires(dock_pos, dock_zone_radius, 12, 12, (Color){0, 255, 0, 100}); - // LOS cone (wireframe from dock point along +y in LVLH) + // LOS cone (wireframe from dock point along +V-bar in LVLH) { double ha = env->los_half_angle; double extent = env->los_extent; - int n_seg = 24; - int n_rings = 4; - int n_edges = 8; - Color cone_color = {0, 187, 0, 60}; + int n_seg = 32; + int n_rings = 5; + int n_edges = 12; + Color cone_color = {0, 220, 80, 220}; - // Draw rings at evenly spaced distances along the cone for (int ri = 1; ri <= n_rings; ri++) { double d = extent * ri / n_rings; double r = d * tan(ha); for (int i = 0; i < n_seg; i++) { double a0 = 2.0 * M_PI * i / n_seg; double a1 = 2.0 * M_PI * (i + 1) / n_seg; - Vector3 p0 = lvlh_to_render(client, + Vector3 p0 = lvlh_to_orbit_overlay_render(client, env->dock_x + r * cos(a0), env->dock_y + d, - env->dock_z + r * sin(a0)); - Vector3 p1 = lvlh_to_render(client, + env->dock_z + r * sin(a0), + client->far_scale, lvlh_scale_overlay); + Vector3 p1 = lvlh_to_orbit_overlay_render(client, env->dock_x + r * cos(a1), env->dock_y + d, - env->dock_z + r * sin(a1)); + env->dock_z + r * sin(a1), + client->far_scale, lvlh_scale_overlay); DrawLine3D(p0, p1, cone_color); + if ((ri == n_rings) && (i % 8 == 0)) { + DrawSphere(p0, 0.06f, (Color){0, 230, 90, 255}); + } } } - // Draw edge lines from dock point to cone rim double r_end = extent * tan(ha); for (int i = 0; i < n_edges; i++) { double a = 2.0 * M_PI * i / n_edges; - Vector3 tip = dock_pos; - Vector3 rim = lvlh_to_render(client, + Vector3 rim = lvlh_to_orbit_overlay_render(client, env->dock_x + r_end * cos(a), env->dock_y + extent, - env->dock_z + r_end * sin(a)); - DrawLine3D(tip, rim, cone_color); + env->dock_z + r_end * sin(a), + client->far_scale, lvlh_scale_overlay); + DrawLine3D(dock_pos, rim, cone_color); } } - // Trail + // Chaser trail in LVLH, projected through current LVLH->ECI transform. if (client->trail.count > 2) { for (int j = 0; j < client->trail.count - 1; j++) { int idx0 = (client->trail.index - j - 1 + TRAIL_LENGTH) % TRAIL_LENGTH; @@ -365,12 +589,14 @@ void render_orbital_dock(OrbitalDock *env, Client *client) { unsigned char brightness = (unsigned char)(187 * (1.0f - age_factor * 0.8f)); Color trail_color = {0, brightness, brightness, 255}; - Vector3 p0 = {(float)client->trail.pos[idx0].x, - (float)client->trail.pos[idx0].y, - (float)client->trail.pos[idx0].z}; - Vector3 p1 = {(float)client->trail.pos[idx1].x, - (float)client->trail.pos[idx1].y, - (float)client->trail.pos[idx1].z}; + Vec3d p0_lvlh = client->trail.pos[idx0]; + Vec3d p1_lvlh = client->trail.pos[idx1]; + Vector3 p0 = lvlh_to_orbit_render_clamped(client, p0_lvlh.x, p0_lvlh.y, p0_lvlh.z, + client->far_scale, lvlh_scale_overlay, + LVLH_VIS_MAX_M, NULL); + Vector3 p1 = lvlh_to_orbit_render_clamped(client, p1_lvlh.x, p1_lvlh.y, p1_lvlh.z, + client->far_scale, lvlh_scale_overlay, + LVLH_VIS_MAX_M, NULL); DrawLine3D(p0, p1, trail_color); } } @@ -384,12 +610,19 @@ void render_orbital_dock(OrbitalDock *env, Client *client) { DrawText(TextFormat("Rel Speed: %.2f m/s", rel_speed), 20, y, 20, PUFF_WHITE); y += dy; DrawText(TextFormat("Fuel: %.1f%%", 100.0 * env->fuel / env->fuel_budget), 20, y, 20, PUFF_WHITE); y += dy; DrawText(TextFormat("Step: %d / %d", env->step_count, env->max_steps), 20, y, 20, PUFF_WHITE); y += dy; - y += dy/2; - DrawText(TextFormat("Pos: [%.0f, %.0f, %.0f] m", env->x, env->y, env->z), 20, y, 18, (Color){150, 150, 150, 255}); y += dy - 4; - DrawText(TextFormat("Vel: [%.2f, %.2f, %.2f] m/s", env->vx, env->vy, env->vz), 20, y, 18, (Color){150, 150, 150, 255}); y += dy; - DrawText(TextFormat("Scale: %.0f m/unit", client->scale), 20, y, 20, PUFF_WHITE); y += dy; - y += dy; + y += 8; + DrawText(TextFormat("Altitude: %.0f km | Phase: %.1f deg", + env->station_radius / 1000.0 - 6371.0, + client->theta * 180.0 / M_PI), + 20, y, 18, (Color){190, 190, 210, 255}); y += dy; + + y += 4; + DrawText(TextFormat("Pos: [%.0f, %.0f, %.0f] m", env->x, env->y, env->z), + 20, y, 18, (Color){150, 150, 150, 255}); y += dy - 4; + DrawText(TextFormat("Vel: [%.2f, %.2f, %.2f] m/s", env->vx, env->vy, env->vz), + 20, y, 18, (Color){150, 150, 150, 255}); y += dy; + DrawText("Thrust Cmd:", 20, y, 20, PUFF_ORANGE); y += dy; DrawText(TextFormat(" R-bar: %+.0f%%", act_x * 100.0f), 20, y, 18, act_x > 0.05 ? PUFF_GREEN : (act_x < -0.05 ? PUFF_RED : PUFF_WHITE)); y += dy - 4; @@ -398,19 +631,18 @@ void render_orbital_dock(OrbitalDock *env, Client *client) { DrawText(TextFormat(" H-bar: %+.0f%%", act_z * 100.0f), 20, y, 18, act_z > 0.05 ? PUFF_GREEN : (act_z < -0.05 ? PUFF_RED : PUFF_WHITE)); y += dy; - // Axis legend (right side) - int rx = RENDER_WIDTH - 180; - y = RENDER_HEIGHT - 100; + int rx = RENDER_WIDTH - 230; + y = RENDER_HEIGHT - 120; DrawText("LVLH Axes:", rx, y, 18, PUFF_WHITE); y += 20; DrawText(" V-bar (prograde)", rx, y, 16, PUFF_GREEN); y += 18; DrawText(" H-bar (normal)", rx, y, 16, PUFF_CYAN); y += 18; DrawText(" R-bar (radial)", rx, y, 16, PUFF_YELLOW); - // Controls - DrawText("Left click + drag: Rotate camera", 20, RENDER_HEIGHT - 40, 16, (Color){150, 150, 150, 255}); - DrawText("Mouse wheel: Zoom | ESC: Exit", 20, RENDER_HEIGHT - 20, 16, (Color){150, 150, 150, 255}); + DrawText("Left click + drag: Rotate camera", 20, RENDER_HEIGHT - 56, 16, + (Color){150, 150, 150, 255}); + DrawText("Mouse wheel: Zoom | ESC: Exit", + 20, RENDER_HEIGHT - 34, 16, (Color){150, 150, 150, 255}); - // Dock status if (dist < env->dock_dist && rel_speed < env->dock_speed) { DrawText("DOCKED!", RENDER_WIDTH/2 - 60, RENDER_HEIGHT/2 - 20, 40, PUFF_GREEN); } else if (dist < env->dock_dist) { diff --git a/pufferlib/ocean/orbital_dock/verification_suite.py b/pufferlib/ocean/orbital_dock/verification_suite.py deleted file mode 100644 index 2d98969e1a..0000000000 --- a/pufferlib/ocean/orbital_dock/verification_suite.py +++ /dev/null @@ -1,623 +0,0 @@ -"""Comprehensive verification suite for orbital_dock environment. - -10 tests covering: -1. Energy conservation -2. Circular orbit stability -3. Relative frame stability -4. Hohmann transfer physics -5. V-bar stability (along-track) -6. CW dynamics (R-bar oscillation, V-bar drift) -7. Docking mechanics -8. Fuel accounting -9. Observation bounds -10. Termination conditions -""" -import numpy as np -from pufferlib.ocean.orbital_dock.orbital_dock import OrbitalDock - - -def obs_to_state(obs): - """Extract physical state from observation.""" - rel_pos = obs[0:3] * 100.0 # Scale: 100m - rel_vel = obs[3:6] * 2.0 # Scale: 2 m/s - dist = obs[6] * 100.0 - closing_speed = obs[7] * 2.0 - fuel = obs[8] # Already normalized [0, 1] - return rel_pos, rel_vel, dist, closing_speed, fuel - - -def test_1_energy_conservation(): - """TEST 1: Energy conservation in two-body problem. - - With no thrust, the orbital energy should be conserved. - We verify this indirectly through stable relative position. - """ - print("="*60) - print("TEST 1: Energy conservation") - print("="*60) - - env = OrbitalDock(num_envs=1, difficulty=0.0) - obs, _ = env.reset(seed=42) - - no_thrust = np.array([[2, 2, 2]], dtype=np.int32) - - initial_dist = obs[0, 6] * 100.0 - - for step in range(100): - obs, _, terminals, _, _ = env.step(no_thrust) - if terminals[0]: - break - - final_dist = obs[0, 6] * 100.0 - drift = abs(final_dist - initial_dist) - - print(f" Initial distance: {initial_dist:.2f}m") - print(f" Final distance: {final_dist:.2f}m") - print(f" Drift after 100 steps: {drift:.4f}m") - - env.close() - - if drift < 1.0: - print(" -> PASS: Energy effectively conserved (drift < 1m)") - return True - else: - print(f" -> FAIL: Excessive drift {drift:.4f}m indicates energy loss") - return False - - -def test_2_circular_orbit_stability(): - """TEST 2: Circular orbit stability. - - With both bodies using same integrator, relative position should - be stable over many steps. - """ - print("\n" + "="*60) - print("TEST 2: Circular orbit stability") - print("="*60) - - env = OrbitalDock(num_envs=1, difficulty=0.0, max_steps=1000) - obs, _ = env.reset(seed=123) - - no_thrust = np.array([[2, 2, 2]], dtype=np.int32) - - initial_dist = obs[0, 6] * 100.0 - - for step in range(500): - obs, _, terminals, _, _ = env.step(no_thrust) - if terminals[0]: - print(f" Terminated at step {step}") - break - - final_dist = obs[0, 6] * 100.0 - drift = abs(final_dist - initial_dist) - - print(f" Initial distance: {initial_dist:.2f}m") - print(f" Final distance: {final_dist:.2f}m") - print(f" Drift after {step+1} steps: {drift:.2f}m") - - env.close() - - if drift < 5.0: - print(" -> PASS: Orbit stable (drift < 5m)") - return True - else: - print(f" -> FAIL: Orbit unstable (drift = {drift:.2f}m)") - return False - - -def test_3_relative_frame_stability(): - """TEST 3: Relative frame stability. - - With zero relative velocity and no thrust, relative position - should remain nearly constant over short timescales. - """ - print("\n" + "="*60) - print("TEST 3: Relative frame stability") - print("="*60) - - env = OrbitalDock(num_envs=1, difficulty=0.0) - obs, _ = env.reset(seed=42) - - no_thrust = np.array([[2, 2, 2]], dtype=np.int32) - - initial_dist = obs[0, 6] * 100.0 - - distances = [initial_dist] - for step in range(100): - obs, _, terminals, _, _ = env.step(no_thrust) - distances.append(obs[0, 6] * 100.0) - if terminals[0]: - break - - max_drift = max(abs(d - initial_dist) for d in distances) - - print(f" Initial distance: {initial_dist:.2f}m") - print(f" Final distance: {distances[-1]:.2f}m") - print(f" Max drift: {max_drift:.4f}m") - - env.close() - - if max_drift < 1.0: - print(" -> PASS: Relative frame stable (max drift < 1m)") - return True - else: - print(f" -> FAIL: Relative frame unstable (max drift = {max_drift:.4f}m)") - return False - - -def test_4_hohmann_transfer(): - """TEST 4: Hohmann transfer physics. - - Prograde thrust increases orbital energy (moves outward over time). - Retrograde thrust decreases orbital energy (moves inward over time). - """ - print("\n" + "="*60) - print("TEST 4: Hohmann transfer physics") - print("="*60) - - # Test prograde thrust - env = OrbitalDock(num_envs=1, difficulty=0.0, max_steps=100) - obs, _ = env.reset(seed=42) - - initial_v = obs[0, 1] * 100.0 # V-bar position - - prograde = np.array([[4, 2, 2]], dtype=np.int32) # +100% prograde - for step in range(20): - obs, _, terminals, _, _ = env.step(prograde) - if terminals[0]: - break - - final_v_pro = obs[0, 1] * 100.0 - env.close() - - # Test retrograde thrust - env2 = OrbitalDock(num_envs=1, difficulty=0.0, max_steps=100) - obs2, _ = env2.reset(seed=42) - - retrograde = np.array([[0, 2, 2]], dtype=np.int32) # -100% prograde - for step in range(20): - obs2, _, terminals, _, _ = env2.step(retrograde) - if terminals[0]: - break - - final_v_ret = obs2[0, 1] * 100.0 - env2.close() - - print(f" Initial V-bar: {initial_v:.2f}m") - print(f" After prograde thrust: {final_v_pro:.2f}m") - print(f" After retrograde thrust: {final_v_ret:.2f}m") - - # Prograde and retrograde should have opposite effects - if (final_v_pro - initial_v) * (final_v_ret - initial_v) < 0: - print(" -> PASS: Prograde/retrograde have opposite effects") - return True - elif abs(final_v_pro - initial_v) > 0.1 or abs(final_v_ret - initial_v) > 0.1: - print(" -> PASS: Thrust produces meaningful motion") - return True - else: - print(" -> FAIL: Thrust effects not distinguishable") - return False - - -def test_5_vbar_stability(): - """TEST 5: V-bar stability. - - V-bar (along-track) is the stable direction. Small V-bar offsets - don't cause runaway drift like R-bar offsets do. - At d=0, offset is mostly V-bar, so should see bounded motion. - """ - print("\n" + "="*60) - print("TEST 5: V-bar stability") - print("="*60) - - env = OrbitalDock(num_envs=1, difficulty=0.0, max_steps=600) - obs, _ = env.reset(seed=42) - - no_thrust = np.array([[2, 2, 2]], dtype=np.int32) - - initial_r = obs[0, 0] * 100.0 - initial_v = obs[0, 1] * 100.0 - initial_h = obs[0, 2] * 100.0 - initial_dist = obs[0, 6] * 100.0 - - # At d=0, phi=90° so offset should be mostly in V-bar plane - v_bar_fraction = abs(initial_v) / (abs(initial_r) + abs(initial_v) + abs(initial_h) + 1e-10) - - print(f" Initial: R={initial_r:.2f}m, V={initial_v:.2f}m, H={initial_h:.2f}m") - print(f" V-bar fraction: {100*v_bar_fraction:.1f}%") - - # Run for 500 steps - distances = [initial_dist] - for step in range(500): - obs, _, terminals, _, _ = env.step(no_thrust) - distances.append(obs[0, 6] * 100.0) - if terminals[0]: - break - - final_dist = distances[-1] - max_dist = max(distances) - growth_ratio = max_dist / initial_dist - - print(f" After {len(distances)-1} steps:") - print(f" Final distance: {final_dist:.2f}m") - print(f" Max distance: {max_dist:.2f}m") - print(f" Growth ratio: {growth_ratio:.2f}") - - env.close() - - # At d=0, expect bounded motion (mostly V-bar, little R-bar to cause drift) - if growth_ratio < 2.0: - print(" -> PASS: Motion bounded (growth ratio < 2)") - return True - else: - print(f" -> FAIL: Excessive growth (ratio = {growth_ratio:.2f})") - return False - - -def test_6_cw_dynamics(): - """TEST 6: CW (Clohessy-Wiltshire) dynamics. - - Verify key CW physics properties: - 1. R-bar offset causes oscillation - 2. V-bar has secular drift (grows over time) due to 2:1 coupling - 3. H-bar oscillates independently (bounded) - """ - print("\n" + "="*60) - print("TEST 6: CW dynamics") - print("="*60) - - # Use higher difficulty to get mixed R-bar/V-bar/H-bar starting conditions - env = OrbitalDock(num_envs=1, difficulty=1.0, max_steps=7000) - obs, _ = env.reset(seed=42) - - no_thrust = np.array([[2, 2, 2]], dtype=np.int32) - - r_bar_traj = [] - v_bar_traj = [] - h_bar_traj = [] - - initial_r = obs[0, 0] * 100.0 - initial_v = obs[0, 1] * 100.0 - initial_h = obs[0, 2] * 100.0 - - print(f" Initial: R={initial_r:.2f}m, V={initial_v:.2f}m, H={initial_h:.2f}m") - - for step in range(6000): - r_bar_traj.append(obs[0, 0] * 100.0) - v_bar_traj.append(obs[0, 1] * 100.0) - h_bar_traj.append(obs[0, 2] * 100.0) - - obs, _, terminals, _, _ = env.step(no_thrust) - if terminals[0]: - print(f" Terminated at step {step}") - break - - r_bar = np.array(r_bar_traj) - v_bar = np.array(v_bar_traj) - h_bar = np.array(h_bar_traj) - - # Check CW properties - # 1. R-bar oscillates (multiple sign changes or extrema) - r_sign_changes = np.sum(np.diff(np.sign(r_bar)) != 0) - r_oscillates = r_sign_changes >= 2 or (r_bar.max() - r_bar.min()) > 50 - - # 2. V-bar has secular drift - v_grows = abs(v_bar[-1]) > abs(v_bar[0]) * 1.5 or abs(v_bar[-1] - v_bar[0]) > 100 - - # 3. H-bar is bounded (doesn't grow unboundedly) - h_bounded = h_bar.max() < 2 * max(abs(initial_h), 50) and h_bar.min() > -2 * max(abs(initial_h), 50) - - print(f"\n CW dynamics analysis ({len(r_bar)} steps):") - print(f" R-bar oscillation: {r_sign_changes} sign changes, range [{r_bar.min():.1f}, {r_bar.max():.1f}]m") - print(f" V-bar drift: {v_bar[0]:.1f}m -> {v_bar[-1]:.1f}m") - print(f" H-bar bounded: [{h_bar.min():.1f}, {h_bar.max():.1f}]m") - print(f"\n R-bar oscillates: {r_oscillates}") - print(f" V-bar drifts: {v_grows}") - print(f" H-bar bounded: {h_bounded}") - - env.close() - - if r_oscillates and v_grows and h_bounded: - print(" -> PASS: CW dynamics correct") - return True - else: - failures = [] - if not r_oscillates: failures.append("R-bar doesn't oscillate") - if not v_grows: failures.append("V-bar doesn't drift") - if not h_bounded: failures.append("H-bar not bounded") - print(f" -> FAIL: {', '.join(failures)}") - return False - - -def test_7_docking(): - """TEST 7: Docking mechanics. - - A simple controller should be able to dock successfully from 30-50m. - """ - print("\n" + "="*60) - print("TEST 7: Docking mechanics") - print("="*60) - - def smart_action(obs): - rel_pos = obs[0:3] * 100.0 - rel_vel = obs[3:6] * 2.0 - dist = obs[6] * 100.0 - - dir_to_station = -rel_pos / (dist + 1e-10) - desired_vel_mag = min(0.3, max(0.1, dist * 0.02)) - desired_vel = dir_to_station * desired_vel_mag - vel_error = desired_vel - rel_vel - - gain = 4.0 - thrust = vel_error * gain - thrust = np.clip(thrust, -1, 1) - - def to_discrete(x): - if x < -0.75: return 0 - elif x < -0.25: return 1 - elif x < 0.25: return 2 - elif x < 0.75: return 3 - else: return 4 - - return np.array([[to_discrete(thrust[1]), to_discrete(thrust[0]), to_discrete(thrust[2])]], dtype=np.int32) - - successes = 0 - n_tests = 10 - - for seed in range(n_tests): - env = OrbitalDock(num_envs=1, difficulty=0.0) - obs, _ = env.reset(seed=seed) - - for step in range(200): - action = smart_action(obs[0]) - obs, rewards, terminals, _, _ = env.step(action) - - if terminals[0]: - if rewards[0] > 5.0: - successes += 1 - break - - env.close() - - dock_rate = successes / n_tests - print(f" Dock rate: {successes}/{n_tests} = {100*dock_rate:.0f}%") - - if dock_rate >= 0.8: - print(" -> PASS: Docking works (>= 80% success)") - return True - else: - print(f" -> FAIL: Docking unreliable ({100*dock_rate:.0f}% success)") - return False - - -def test_8_fuel_accounting(): - """TEST 8: Fuel accounting. - - Fuel should decrease when thrusting and remain constant when not. - """ - print("\n" + "="*60) - print("TEST 8: Fuel accounting") - print("="*60) - - env = OrbitalDock(num_envs=1, difficulty=0.5, max_steps=500) - obs, _ = env.reset(seed=999) - - initial_fuel = obs[0, 8] - - # Coast - fuel should stay same - no_thrust = np.array([[2, 2, 2]], dtype=np.int32) - for _ in range(10): - obs, _, terminals, _, _ = env.step(no_thrust) - if terminals[0]: - break - - fuel_after_coast = obs[0, 8] - coast_change = abs(fuel_after_coast - initial_fuel) - - print(f" Initial fuel: {initial_fuel:.4f}") - print(f" Fuel after coast: {fuel_after_coast:.4f}") - print(f" Coast fuel change: {coast_change:.6f}") - - # Thrust in radial direction (away from station to avoid docking) - radial_out = np.array([[2, 4, 2]], dtype=np.int32) - fuel_before_thrust = fuel_after_coast - - for _ in range(20): - obs, _, terminals, _, _ = env.step(radial_out) - if terminals[0]: - break - - fuel_after_thrust = obs[0, 8] - thrust_change = fuel_before_thrust - fuel_after_thrust - - print(f" Fuel after thrust: {fuel_after_thrust:.4f}") - print(f" Thrust fuel change: {thrust_change:.4f}") - - env.close() - - coast_ok = coast_change < 0.001 - thrust_ok = thrust_change > 0.001 - - if coast_ok and thrust_ok: - print(" -> PASS: Fuel accounting correct") - return True - else: - if not coast_ok: - print(f" -> FAIL: Fuel changed during coast ({coast_change:.6f})") - if not thrust_ok: - print(f" -> FAIL: Fuel didn't decrease during thrust ({thrust_change:.4f})") - return False - - -def test_9_observation_bounds(): - """TEST 9: Observation bounds. - - At d=0 (30-50m starting distance), observations should be in [-1, 1]. - """ - print("\n" + "="*60) - print("TEST 9: Observation bounds") - print("="*60) - - all_obs = [] - - for seed in range(10): - env = OrbitalDock(num_envs=1, difficulty=0.0) - obs, _ = env.reset(seed=seed) - all_obs.append(obs.copy()) - - for step in range(50): - action = np.random.randint(0, 5, (1, 3), dtype=np.int32) - obs, _, terminals, _, _ = env.step(action) - all_obs.append(obs.copy()) - if terminals[0]: - break - - env.close() - - all_obs = np.concatenate(all_obs, axis=0) - - min_val = all_obs.min() - max_val = all_obs.max() - - print(f" Observation range at d=0: [{min_val:.4f}, {max_val:.4f}]") - print(f" Expected range: approximately [-1, 1]") - - # Check per-dimension - obs_names = ['R-bar', 'V-bar', 'H-bar', 'rel_vr', 'rel_vv', 'rel_vh', - 'dist', 'closing', 'fuel', 'alt', 'phase', 'incl', 'node', 'time'] - - all_ok = True - for i, name in enumerate(obs_names): - obs_i = all_obs[:, i] - if obs_i.min() < -1.5 or obs_i.max() > 1.5: - print(f" {name}: [{obs_i.min():.4f}, {obs_i.max():.4f}] - out of range!") - all_ok = False - - if min_val >= -1.5 and max_val <= 1.5: - print(" -> PASS: All observations in [-1.5, 1.5]") - return True - else: - print(f" -> FAIL: Observations outside expected range") - return False - - -def test_10_termination_conditions(): - """TEST 10: Termination conditions. - - Test dock and timeout terminations. - """ - print("\n" + "="*60) - print("TEST 10: Termination conditions") - print("="*60) - - results = {} - - # 10a: Docking - print("\n 10a: Docking termination") - env = OrbitalDock(num_envs=1, difficulty=0.0) - obs, _ = env.reset(seed=42) - - def smart_action(obs): - rel_pos = obs[0:3] * 100.0 - rel_vel = obs[3:6] * 2.0 - dist = obs[6] * 100.0 - - dir_to_station = -rel_pos / (dist + 1e-10) - desired_vel_mag = min(0.3, max(0.1, dist * 0.02)) - desired_vel = dir_to_station * desired_vel_mag - vel_error = desired_vel - rel_vel - - gain = 4.0 - thrust = vel_error * gain - thrust = np.clip(thrust, -1, 1) - - def to_discrete(x): - if x < -0.75: return 0 - elif x < -0.25: return 1 - elif x < 0.25: return 2 - elif x < 0.75: return 3 - else: return 4 - - return np.array([[to_discrete(thrust[1]), to_discrete(thrust[0]), to_discrete(thrust[2])]], dtype=np.int32) - - for step in range(200): - action = smart_action(obs[0]) - obs, rewards, terminals, _, _ = env.step(action) - if terminals[0]: - break - - dock_reward = rewards[0] - print(f" Reward: {dock_reward:.2f}") - results['10a_dock'] = dock_reward > 5.0 - if results['10a_dock']: - print(" -> PASS: Positive dock reward") - else: - print(" -> FAIL: Expected positive reward") - env.close() - - # 10b: Timeout - print("\n 10b: Timeout termination") - env = OrbitalDock(num_envs=1, difficulty=0.0, max_steps=50) - obs, _ = env.reset(seed=999) - - no_thrust = np.array([[2, 2, 2]], dtype=np.int32) - - for step in range(100): - obs, rewards, terminals, _, _ = env.step(no_thrust) - if terminals[0]: - break - - print(f" Terminated at step {step+1}, reward: {rewards[0]:.4f}") - results['10b_timeout'] = step >= 49 - if results['10b_timeout']: - print(" -> PASS: Timeout at max_steps") - else: - print(f" -> FAIL: Terminated early at step {step+1}") - env.close() - - all_pass = all(results.values()) - return all_pass - - -def run_all_tests(): - """Run all verification tests.""" - print("\n" + "="*60) - print("ORBITAL DOCK VERIFICATION SUITE") - print("="*60) - - results = { - 'test_1_energy': test_1_energy_conservation(), - 'test_2_circular': test_2_circular_orbit_stability(), - 'test_3_relative': test_3_relative_frame_stability(), - 'test_4_hohmann': test_4_hohmann_transfer(), - 'test_5_vbar': test_5_vbar_stability(), - 'test_6_cw_dynamics': test_6_cw_dynamics(), - 'test_7_docking': test_7_docking(), - 'test_8_fuel': test_8_fuel_accounting(), - 'test_9_obs_bounds': test_9_observation_bounds(), - 'test_10_termination': test_10_termination_conditions(), - } - - print("\n" + "="*60) - print("SUMMARY") - print("="*60) - - passed = sum(results.values()) - total = len(results) - - for name, result in results.items(): - status = "PASS" if result else "FAIL" - print(f" {name}: {status}") - - print(f"\nTotal: {passed}/{total} tests passed") - - if passed == total: - print("\nALL TESTS PASSED!") - return True - else: - print(f"\n{total - passed} TESTS FAILED") - return False - - -if __name__ == '__main__': - run_all_tests() diff --git a/pufferlib/resources/orbital_dock/ps1_style_low_poly_earth.glb b/pufferlib/resources/orbital_dock/ps1_style_low_poly_earth.glb new file mode 100644 index 0000000000000000000000000000000000000000..0984bae45ae5d22a1e35dd32d1862bda937ff463 GIT binary patch literal 194432 zcmb@scT`l#yZw!dh?p=VCIka2U;~1n^r=!Yjv|5qGa#TSAOa>#m<1K%CT%rj;kb;ij1?C#@S`+o2Jt^3EzT6^tXr#@BnoT}5^XTp$}9_@=;SXiX| zUEIRK#=@d=aJPW*j$wlbMAjK_^7C;$b??ekz*WNdbl_a9uXTqA}%s6 zsmHkZNXM35?jGK_I4UlQ8eYCGj{NtMjE1 z9zO0Zn$s1XkFT$%PUqFa%frjt(`x{Yj*g?zuG(y*?cSyrOI2uG4wwblzT`G@0>|yN8#%5AM<1)7|^OZs|WKaQz=< zFkSoaQ~bYf%KiU*3+`?@*9g*PJ(lIP1JTf6^Q240C z!OLqgruRa&FQG!n|nm~_zre&?ioHfEG)vy*IgGi z*i#qo(IV257DF)03L6_pfVo^a<%!sh0 zHvfK}6H#1P!Vr8GJe&J^d;ZtwHp`%>=I{{LYuZ;$3W`T+fSUmm{A@wK2$Zakqu;bDo9ZAZk6NN^h# zA34PMK${Lg+x#DQ+}GVl=Zi<4o^*OZ>C_T?CPqfkx0>Tm9fJnNh9yNNM2E#B4oZxV z96Tx}EWwf3=-99!kw2cK>HF3bUx=}hJxt$eMyT1p75qDs@oPF_#HjF?$Y44LS}G}F zROF8Z;N$kcEKWV&3o+hd`>?^r$FLuLHQ?((`-=F^eD9_&iiz|X{dKUC|aY ze&`074h5f!_=M=#XnfL5dl!~OPh$9}Bs9l626PMR+PVvU2wWTky9IaZ(WzU2@wx8N zE~IU@ZbANobo7fx%Tp!vT|z^!-P-XOL45cfTQ;9K0LK|e4bv)vhepRlBt+te${kgP z(W3ax!)|F`qW`*w8~uVcZ|<#Y?(5;D^K|!&q))Yr>yIe%|BU_j$%sTDrVsPKUlW6j z-%-Xd>K`ie_^~pYNQa*<`fEWyr#>EDJ|6#;_}^Cf-$D9q`ae!%Rw#Y%4eCPQc!B?Z zx_?GzLmYV-~OZ2n*-?kg&VQ0NP=;zIw-UjHC=;_`( z(p5*V3ckL^-*3|%_|mJ%zqkLNJ^#xb#_2s<=zQHg@aEv_)7-O#*T2)4-Lmm9HI|P@ z*!V2{j}I`OtHiL__!#C8>#<#q;y@!GEJrZO6ur?;Nal@ zqPRtyP671RXkk%|g!ji1Bui3Bt!+hKie#-_E3LKZ71N>&sVoWC%4zNL*W zyApY2QWX-eRn^+n$g7j=v}-lAwmo@GQY{j$)z;c|$m^0ENVryygtjBeiBzA2YYnt^ zL-Ix>XYE>Jt=)vYDanO|Ypz<`jl3C2r(JW`+8*Sdq~;`C^U~Vh~34LI)veaO@HG24lb=!?8zL8#Qd!GQ1oK z>!5}$T83{WVLtSI&+u&|%!eAvXc@kpgtajS3^IHN32S2v7-aZP63z!47-aY^63z!4 z7-V=ZDVqci3^IH-3FiY23^IHV3Fnhd0)q_SOTzhp1A`3TN5bBK1A`359$|05fkB32 zkFXAE+plH#0TR|hZ3nds&m&U0fP+3 z9${}V1`IMBdxUjR!%;26kCCL-{+{8-Nth2cRMs;51PSv=5*TFoNfOq^7%<52QzWbn z4h%B^K16F4x)@ZU+O2^<(?cnuQH6C4<1_%#yF4ejq4ew~DK!&z6?GW-S!=Y}z0 zkl{B;I5&&|gABh#!rp)bgAB(WVQ;{JL55?GFdu5Tt!4Nf66QkkA$_s6>1rNpM3a;yyw z3^Lq?g!4iBdxn=G;e2qWjY!DwvUDBigE3%`;pIp;A8=rh;pIs3>aj% zJ2}?D7%<3iM-tXX`+J5vk+3#uXhuSY*C)sMU!cmop72OJn=ctaA-2OJn=cq0!7wUEyKe}SO;UkAj1cf zunxw6L54?=unssd$nZ!KY61ra86HJKP2j*F!-tSs)A@h{gA8v+j`IWu1{pq-gmXjt zdxl4oaBev3wj^ZuFmjw5#(+VF4<})7z=1)AV~?;m;J_fmu}4@3HN$E%!e^xkm2zptc@{Xkl`aqSQ{J|WOxDz=K~H5GCYxl^8p728JOFv##pB&-7t3^IH&2{nNOgA7k0p(b!(kl|g) zah~A7Aj7ASaBgUS&+w@voEy&iClWGz8ad7lW56K8r;~7Q;J_fmXOOTr;J_fmu}9b& zaA1((*dxq`8fI!4K8u9;P(ydE4)|=khWRiC3^F{Gg!wQA3^F{8gtfteL59yEVQp|= zkl}MlI3I9ekm2)4I3I9ekm2bhoDVoK$ng0joDVoK$nXUuoDVoK$nb?EoDVoK$nZrZ zoFzCg$nb9D*fVfokm1-n%!e8lYZ<!_$m_42OJn=cqR$w0}c!_ zJd1?$0S5*dzM6!+0S5*djy=NOfCGaJ#~xuF)Ye<851vieunuZlqhOFv#$A zB&>rmV36VKNmvIQ7-aYc5^4em1{t11LQUYnAj3D3aBkqhAj3D2aBkqhAj3D4aBkqh zAj7wiaBkqhAj7wkaK_-kAjA8R<2=EEL56Q5VQp5fRd%!eAbYZ<|fI)`mlCU<$fI)^2Ajdl3z#zkSldv}0-!ps<3Fm_|?MFg}?!_&yTO z2OJn=_5_n1q_ZfkB2JA>rJ> zfkB2JCE?t_fkB2JBjMb@fkB2JC*h32fkB3ck>fnUfkB3!AYpIN{+{93BkT>%dJqX2 zjy*a_Iz>9IW%w_oGo-Vmb6SRaXi~)lTA3}bC9Am&B!!MF9Y3=VBewlQI6i(wJ zNXYPC$$ukZ3>akiRnqSyaA1((*GSh%;J_fmZ;)=1z=1)A-y+>6fdhjKzeBo90tW^e zUP!{;fCGaJ#~xvCz=1)AV~?;7YP+Xp_wp7;41YpGP2j*F!~Y;V($o8=Q4C2^o$(!rovE7-Ts12=k$ams*CuB4KUR@LJ385p)gfU! z_!|=DL;HJ%za?R9)DWxH0so7xVQq{7gA9L1!uenf7-aZ+63z!47-aYd63z!47-ab0 zB%BX8Fv#$KNH`yGV36S-NjM*HV36UTNZ1>2V36V1BkT=0FvxK15!OL%pS2ACLc%(z z?W>mI-$+;oW56K8i%3`pW56K8EsC4g0S5+a!i&*$)C3L;GQ2nmHGu;Z`J^8_s$p2^n6Bu48X71`IMBdxX6K2L>6A zJ;K_k!J32&A486HP(x`FGTerQ`OyBJ;blme4>gP;A;Zg(V{ME9gA6Z6!rI`#Aj8X( za6aI`Aj2z=a6aI`Aj54*I3I9ekl__cI3I9ekl~d`I3I9ekl~d{I3I9ekl|HG*c)(Q zkm1-P>1{q$9gtG((1{pq{9OniO3^Ken3Fm|M_YAK?!ujA#$B~fXb;)r)7y||w?m)u% zfCGaJuSde(fCGaJ#~xvCz=1)AV~;Q&YH-vt+=+zwP{Ty64tRaKhWRiC3^Kd{3G-nL z7-V=u64nL>1{vOngtfteL54e%a6aI`Aj2Dza6aI`Aj6xGa6aI`Aj6xIa6aI`Aj4fq zI3I9ekm0T*oDVoK$Z$6j&Jr9LWcXxq>=`&P$Z+f()5FmxOgN1`IMhorHD3fkB2ZAfYC3V36UKB-8{B3^IHX3Fn6P_Y7Y`!nxtB@rR7R zr6imi#(+VFXOM7i;J_fmSCDXS;J_fmr;)HX;J_fmu}9b&aA1((Q%M#UoE5W(XY_BO zNhu^BW4oxR6=nLaDPpX!XtEyHUmLx-#_6vA?LO zuGWt>)~T!Y*VOu}YyD`Wzq;06S?jN0?EhATHu@_V`@a>H(fUhi{b-}Vl-6Iu*#E7l zNWp!7D?*#TYpIR<`%?6`f_?Z_^vc-()!0V=E3N;D)_+&)M;rZjwf^6={tH?^+UUPv z?EhMHQtKC5KicRQ#{O?b2aNqiMLUiCrZ(!|sg2)g?5BS!)cVoJU$!=WnbyC+*iTP} z*1y2mUsN

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zH6`;?D^ZMh_tm4&{{H~D{l94!2D^W9&E|wD+cH$KU?| zPhfgsPE;GFK=cC&(%2HH#EKcQ6{G1>5Q?Dmut1DQ`~I*008{ zFs&nSaj7nU7URXSlS({)b}{w!{fX<=1|1yXJ~L-&$1UvOXMZ_$$B~HW`P>Q!9sdAf z(Ek9_(~$5G9FLY0C_9XMj{XiHL|W8o*X)8~;lJ4b0H^&s^{p-{C3nJtnj^@ZXO|^S zqyGSg!s6qQeTAL|lz-IpKX3Z?>jG7)%(M7oC;d3anF}GiSa6UiBk3{n9>3SWzgkif yM&^C-sk}$wk4=)c%zWPzqrazz7|iGP`}_X@+rL@>D{ub*Y+-cq`D6dt0001IJQ+#= literal 0 HcmV?d00001 From 3c3a20d22c4ec3cd638aceee1f64bb8f87ef9a11 Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Sun, 15 Feb 2026 23:29:36 +0100 Subject: [PATCH 11/16] docs: adding readme --- pufferlib/ocean/orbital_dock/README.md | 71 ++++++++++++++++++++++++++ 1 file changed, 71 insertions(+) create mode 100644 pufferlib/ocean/orbital_dock/README.md diff --git a/pufferlib/ocean/orbital_dock/README.md b/pufferlib/ocean/orbital_dock/README.md new file mode 100644 index 0000000000..b81ee53eec --- /dev/null +++ b/pufferlib/ocean/orbital_dock/README.md @@ -0,0 +1,71 @@ +# Orbital Dock + +Spacecraft rendezvous and docking in the LVLH (Hill) reference frame. A chaser spacecraft must navigate 400–1200m to reach a docking port located 60m along the station's V-bar (prograde) axis. The approach is constrained to a 60° line-of-sight cone centered on the docking axis — the chaser cannot dock from arbitrary directions but must align with the V-bar corridor. A hard speed gate (2.0 m/s) enforces a controlled final approach. The physics use Clohessy-Wiltshire linearized relative motion with RK4 integration — the standard model for proximity operations in circular orbit. + +PPO achieves a **99.5% dock rate** against a 2.0 m/s speed gate at 500M training steps. + +## Physics + +- **Dynamics:** Clohessy-Wiltshire (CW) equations, RK4 integration, dt = 1s +- **Orbit:** GEO (42,164 km altitude), mean motion n = 7.29e-5 rad/s +- **Thrust:** 10N max per axis, 500 kg chaser, max accel = 0.02 m/s² +- **Fuel:** 100 m/s delta-v budget +- **Frame:** LVLH — R-bar (radial), V-bar (prograde), H-bar (normal) + +## Observations (10D) + +| Index | Description | +|-------|-------------| +| 0-2 | Position [x, y, z] in LVLH (meters) | +| 3-5 | Velocity [vx, vy, vz] in LVLH (m/s) | +| 6 | Distance to dock point (m) | +| 7 | Speed (m/s) | +| 8 | Closing velocity (m/s, positive = approaching) | +| 9 | Time remaining (fraction) | + +## Actions + +Continuous `Box([-1, 1], shape=(3,))` — thrust fraction per LVLH axis (R-bar, V-bar, H-bar). + +## Termination + +- **Dock:** in LOS cone AND dist < 10m AND speed < 2.0 m/s +- **Crash:** y < dock_y - 5m (overshoot past dock point) +- **Timeout:** 2500 steps + +## Reward + +Per-step: +- `+0.01 * (prev_dist - dist)` — distance progress +- `+0.1 * (exp(-dist/20) - exp(-prev_dist/20))` — potential-based proximity +- `-0.005 * exp(-dist/30) * speed²` — proximity-weighted braking +- `-0.005 * (act²)` — control cost +- `-0.005` — time penalty + +Terminal: dock = +0.5 to +1.0 (soft speed bonus), crash = -1.0, timeout = -0.5 + +## Reward Shaping + +**Exponential proximity reward.** With linear distance progress (`prev_dist - dist`) over long distances, the agent learns to approach but won't risk crashing. The crash penalty outweighs the marginal progress reward near the dock, so the agent avoids docking. An exponential proximity bonus (`exp(-dist/20)`) pulls the agent to explore through the final approach. + +**Potential-based formulation.** A naive proximity bonus (`+0.1 * exp(-dist/20)`) is farmable — the agent can park at ~20m from the dock and collect +0.02/step indefinitely, earning more per episode than the +1.0 dock terminal reward. The potential-based version (`exp(-dist/20) - exp(-prev_dist/20)`) only rewards *movement toward* the dock. Hovering pays zero. + +**Proximity-weighted braking** (`exp(-dist/30) * speed²`) solves the final piece: speed control. Global velocity penalties create a "50m wall" where the agent learns to stop far from the dock to avoid the per-step speed cost. Weighting by proximity focuses the braking signal where it matters — at 800m the penalty is negligible, at 30m it's moderate, at 10m it's strong. The agent cruises at full speed for most of the approach and only brakes in the final stretch. + +**Velocity annealing** Annealing the velocity requirements for a successful dock (from 10 → 2 m/s over 50K per-env steps) bootstraps the dock reward signal. Without annealing, the agent never experiences docking and can't learn the goal. Short annealing gives brief exposure to successful trajectories, with the braking reward pushing gradients as the task becomes more difficult. + +## Architecture + +- Actor: 2-layer MLP (10 → 256 → 256 → 3), GELU, logstd init = -1.0 +- Critic: separate 2-layer MLP (10 → 256 → 256 → 1) +- RunningNorm on observations, no RNN +- 664.8K parameters + +Training: lr=0.001, clip=0.06, ent=0.005, epochs=2, gamma=0.998, gae=0.98, 1024 envs, batch=65536, minibatch=4096, 500M steps. + +## Files + +- `orbital_dock.h` — C environment (CW dynamics, reward, physics) +- `orbital_dock.py` — Python PufferEnv wrapper +- `binding.c` — C-Python binding +- `render.h` — Raylib 3D visualization \ No newline at end of file From 986b083836706529a7c82a8da2c63d0fa811653a Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Sun, 15 Feb 2026 23:32:12 +0100 Subject: [PATCH 12/16] cleanup config --- pufferlib/config/ocean/orbital_dock.ini | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/pufferlib/config/ocean/orbital_dock.ini b/pufferlib/config/ocean/orbital_dock.ini index a3004a9458..41af786546 100644 --- a/pufferlib/config/ocean/orbital_dock.ini +++ b/pufferlib/config/ocean/orbital_dock.ini @@ -15,7 +15,6 @@ hidden_size = 256 num_envs = 4 [env] -# 1024 envs for PufferLib throughput (STELLAR used 30) num_envs = 1024 render_mode = "None" mu = 3.986e14 @@ -26,22 +25,20 @@ max_thrust = 10.0 mass = 500.0 fuel_budget = 100.0 max_steps = 2500 -# Docking point (STELLAR: [0, 60, 0] in LVLH) +# Docking point ([0, 60, 0] in LVLH) dock_x = 0.0 dock_y = 60.0 dock_z = 0.0 -# Docking thresholds (STELLAR: 10m, 2 m/s) +# Docking thresholds (10m, 2 m/s) dock_dist = 10.0 dock_speed = 2.0 # Speed annealing: dock_speed_start -> dock_speed over anneal_steps per-env steps -# Set anneal_steps = 0 to disable annealing (use dock_speed directly) -# Set dock_speed = 999.0 to revert to Exp 8 (no speed requirement) dock_speed_start = 10.0 anneal_steps = 50000 # LOS cone (STELLAR: 60 deg total, 800m extent) los_angle = 60.0 los_extent = 800.0 -# Initial conditions (STELLAR V-bar approach) +# Initial conditions) init_x_center = 0.0 init_y_center = 800.0 init_z_center = 0.0 @@ -67,7 +64,6 @@ anneal_lr = true min_lr_ratio = 0.1 total_timesteps = 500_000_000 checkpoint_interval = 200 -# MLP, no LSTM (STELLAR uses MLP) bptt_horizon = 16 use_rnn = false From f5ae60892c0df8920da798fdd3ba446bab5f0e99 Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Sun, 15 Feb 2026 23:43:20 +0100 Subject: [PATCH 13/16] removing xor --- pufferlib/ocean/orbital_dock/orbital_dock.c | 75 +++++++++++++++++++++ pufferlib/ocean/orbital_dock/orbital_dock.h | 44 ++++-------- 2 files changed, 87 insertions(+), 32 deletions(-) create mode 100644 pufferlib/ocean/orbital_dock/orbital_dock.c diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.c b/pufferlib/ocean/orbital_dock/orbital_dock.c new file mode 100644 index 0000000000..cc5078a2be --- /dev/null +++ b/pufferlib/ocean/orbital_dock/orbital_dock.c @@ -0,0 +1,75 @@ +// Standalone C demo for orbital_dock environment +// Compile using: ./scripts/build_ocean.sh orbital_dock [local|fast] +// Run with: ./orbital_dock + +#include "orbital_dock.h" +#include "render.h" +#include + +void generate_random_actions(OrbitalDock *env) { + env->actions[0] = ((float)rand() / (float)RAND_MAX) * 2.0f - 1.0f; + env->actions[1] = ((float)rand() / (float)RAND_MAX) * 2.0f - 1.0f; + env->actions[2] = ((float)rand() / (float)RAND_MAX) * 2.0f - 1.0f; +} + +int main() { + srand(time(NULL)); + + OrbitalDock *env = calloc(1, sizeof(OrbitalDock)); + + // Physics parameters (GEO orbit) + env->mu = 3.986e14; + env->station_radius = 42164e3; + env->dt = 1.0; + env->max_thrust = 10.0; + env->mass = 500.0; + env->fuel_budget = 100.0; + env->max_steps = 2500; + + // Docking point + env->dock_x = 0.0; + env->dock_y = 60.0; + env->dock_z = 0.0; + env->dock_dist = 10.0; + env->dock_speed = 2.0; + env->dock_speed_start = 10.0; + env->anneal_steps = 50000; + env->global_step = 0; + + // LOS cone (60 deg total) + env->los_half_angle = 30.0 * M_PI / 180.0; + env->los_extent = 800.0; + + // Initial condition ranges + env->init_x_center = 0.0; + env->init_y_center = 800.0; + env->init_z_center = 0.0; + env->init_x_range = 400.0; + env->init_y_range = 300.0; + env->init_z_range = 400.0; + + // Allocate buffers + env->observations = (float *)calloc(10, sizeof(float)); + env->actions = (float *)calloc(3, sizeof(float)); + env->rewards = (float *)calloc(1, sizeof(float)); + env->terminals = (unsigned char *)calloc(1, sizeof(unsigned char)); + env->client = NULL; + + c_reset(env); + c_render(env); + + while (!WindowShouldClose()) { + generate_random_actions(env); + c_step(env); + c_render(env); + } + + c_close(env); + free(env->observations); + free(env->actions); + free(env->rewards); + free(env->terminals); + free(env); + + return 0; +} diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.h b/pufferlib/ocean/orbital_dock/orbital_dock.h index 02118fdcd5..d3e6b0c679 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.h +++ b/pufferlib/ocean/orbital_dock/orbital_dock.h @@ -86,32 +86,16 @@ typedef struct { double init_x_center, init_y_center, init_z_center; double init_x_range, init_y_range, init_z_range; - // RNG state - unsigned int rng_state; - // Render client (NULL if not rendering) Client *client; } OrbitalDock; -// ============================================================================ -// Random Number Generation (xorshift32) -// ============================================================================ - -static inline unsigned int xorshift32(unsigned int* state) { - unsigned int x = *state; - x ^= x << 13; - x ^= x >> 17; - x ^= x << 5; - *state = x; - return x; +static inline double rndf(void) { + return (double)rand() / (double)RAND_MAX; } -static inline double rndf(OrbitalDock* env) { - return (double)xorshift32(&env->rng_state) / (double)0xFFFFFFFF; -} - -static inline double rndf_range(OrbitalDock* env, double min, double max) { - return min + rndf(env) * (max - min); +static inline double rndf_range(double min, double max) { + return min + rndf() * (max - min); } // ============================================================================ @@ -226,27 +210,23 @@ static void compute_observations(OrbitalDock* env) { void c_reset(OrbitalDock* env) { env->step_count = 0; - // Initialize xorshift RNG - env->rng_state = (unsigned int)rand() ^ ((unsigned int)rand() << 15); - if (env->rng_state == 0) env->rng_state = 1; - // Compute mean motion env->n = sqrt(env->mu / (env->station_radius * env->station_radius * env->station_radius)); - // STELLAR V-bar approach initial conditions + // V-bar approach initial conditions // Position: [0, 800, 0] +/- [400, 300, 400] - double x_off = rndf_range(env, -1.0, 1.0) * env->init_x_range; - double y_off = rndf_range(env, -1.0, 1.0) * env->init_y_range; - double z_off = rndf_range(env, -1.0, 1.0) * env->init_z_range; + double x_off = rndf_range(-1.0, 1.0) * env->init_x_range; + double y_off = rndf_range(-1.0, 1.0) * env->init_y_range; + double z_off = rndf_range(-1.0, 1.0) * env->init_z_range; env->x = env->init_x_center + x_off; env->y = env->init_y_center + y_off; env->z = env->init_z_center + z_off; - // Velocity: random in ~[-2, 2] m/s per axis (STELLAR: randint(-2,2) * rand()) - env->vx = rndf_range(env, -2.0, 2.0); - env->vy = rndf_range(env, -2.0, 2.0); - env->vz = rndf_range(env, -2.0, 2.0); + // Velocity: random in ~[-2, 2] m/s per axis + env->vx = rndf_range(-2.0, 2.0); + env->vy = rndf_range(-2.0, 2.0); + env->vz = rndf_range(-2.0, 2.0); // Initialize fuel env->fuel = env->fuel_budget; From eafe59fd69342f9fda90a8eee924809fbaba08e7 Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Sun, 15 Feb 2026 23:44:23 +0100 Subject: [PATCH 14/16] cleanup comments --- pufferlib/ocean/orbital_dock/orbital_dock.h | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.h b/pufferlib/ocean/orbital_dock/orbital_dock.h index d3e6b0c679..25d7436026 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.h +++ b/pufferlib/ocean/orbital_dock/orbital_dock.h @@ -249,7 +249,7 @@ void c_step(OrbitalDock* env) { env->terminals[0] = 0; env->step_count++; - // 1. Get thrust actions [-1, 1] -> force in Newtons + // Get thrust actions [-1, 1] -> force in Newtons double act_x = fmax(-1.0, fmin(1.0, (double)env->actions[0])); double act_y = fmax(-1.0, fmin(1.0, (double)env->actions[1])); double act_z = fmax(-1.0, fmin(1.0, (double)env->actions[2])); @@ -258,7 +258,7 @@ void c_step(OrbitalDock* env) { double fy = act_y * env->max_thrust; double fz = act_z * env->max_thrust; - // 2. Fuel consumption + // Fuel consumption double f_mag = sqrt(fx*fx + fy*fy + fz*fz); double dv_used = (f_mag / env->mass) * env->dt; double ax = fx / env->mass; @@ -276,17 +276,17 @@ void c_step(OrbitalDock* env) { ax = 0; ay = 0; az = 0; } - // 3. Integrate CW dynamics + // Integrate CW dynamics cw_step_rk4(env, ax, ay, az); - // 4. Compute distance to docking point + // Compute distance to docking point double dx = env->x - env->dock_x; double dy = env->y - env->dock_y; double dz = env->z - env->dock_z; double dist = sqrt(dx*dx + dy*dy + dz*dz); double speed = sqrt(env->vx*env->vx + env->vy*env->vy + env->vz*env->vz); - // 5. Compute effective dock_speed (annealing) + // Compute effective dock_speed (annealing) env->global_step++; double effective_dock_speed = env->dock_speed; if (env->anneal_steps > 0) { @@ -294,13 +294,13 @@ void c_step(OrbitalDock* env) { effective_dock_speed = env->dock_speed_start + frac * (env->dock_speed - env->dock_speed_start); } - // 6. Check termination conditions + // Check termination conditions int is_in_los = in_los(env); int docked = is_in_los && (dist < env->dock_dist) && (speed < effective_dock_speed); int collision = (env->y < env->dock_y - 5.0); // y < 55m (5m past dock point) int timeout = (env->step_count >= env->max_steps); - // 6. Compute reward + // Compute reward double reward = 0.0; double progress = env->prev_dist - dist; // positive when approaching dock From c10b78fc3ad24cd5a917c978ad0d10e85dacf5d7 Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Mon, 16 Feb 2026 00:13:04 +0100 Subject: [PATCH 15/16] cleanup ini config --- pufferlib/config/ocean/orbital_dock.ini | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/pufferlib/config/ocean/orbital_dock.ini b/pufferlib/config/ocean/orbital_dock.ini index 41af786546..7e1510b5bc 100644 --- a/pufferlib/config/ocean/orbital_dock.ini +++ b/pufferlib/config/ocean/orbital_dock.ini @@ -16,7 +16,6 @@ num_envs = 4 [env] num_envs = 1024 -render_mode = "None" mu = 3.986e14 # GEO orbit: R = 42,164 km station_radius = 42164000.0 @@ -35,10 +34,10 @@ dock_speed = 2.0 # Speed annealing: dock_speed_start -> dock_speed over anneal_steps per-env steps dock_speed_start = 10.0 anneal_steps = 50000 -# LOS cone (STELLAR: 60 deg total, 800m extent) +# LOS cone (60 deg total, 800m extent) los_angle = 60.0 los_extent = 800.0 -# Initial conditions) +# Initial conditions init_x_center = 0.0 init_y_center = 800.0 init_z_center = 0.0 @@ -47,7 +46,6 @@ init_y_range = 300.0 init_z_range = 400.0 [train] -device = mps learning_rate = 0.001 # 4096 total agents × 16 bptt = 65536 batch_size = 65536 From c9ac6526f833edf59e5040dbe91afea6d512094d Mon Sep 17 00:00:00 2001 From: Philip Ottesen Date: Sat, 21 Feb 2026 22:34:06 +0100 Subject: [PATCH 16/16] remove unused ocean module --- pufferlib/ocean/orbital_dock/orbital_dock.h | 2 +- pufferlib/ocean/torch.py | 42 +++------------------ 2 files changed, 7 insertions(+), 37 deletions(-) diff --git a/pufferlib/ocean/orbital_dock/orbital_dock.h b/pufferlib/ocean/orbital_dock/orbital_dock.h index 25d7436026..13033bf495 100644 --- a/pufferlib/ocean/orbital_dock/orbital_dock.h +++ b/pufferlib/ocean/orbital_dock/orbital_dock.h @@ -44,7 +44,7 @@ typedef struct Client Client; typedef struct { Log log; // Required field (first) - float* observations; // Required field - 6 floats [x, y, z, vx, vy, vz] + float* observations; // Required field - 10 floats [x, y, z, vx, vy, vz, dist, speed, closing_vel, time_remaining] float* actions; // Required field - 3 floats (thrust fractions [-1,1]) float* rewards; // Required field unsigned char* terminals; // Required field diff --git a/pufferlib/ocean/torch.py b/pufferlib/ocean/torch.py index b0ef74fb4a..531f05f23c 100644 --- a/pufferlib/ocean/torch.py +++ b/pufferlib/ocean/torch.py @@ -828,7 +828,8 @@ def decode_actions(self, flat_hidden): class RunningNorm(nn.Module): '''Running mean/std observation normalization (Chen et al. 2023). - Tracks statistics during training, normalizes to zero mean / unit variance.''' + Tracks statistics during training, normalizes to zero mean / unit variance. + ''' def __init__(self, shape, clip=10.0): super().__init__() self.register_buffer('mean', torch.zeros(shape)) @@ -856,41 +857,13 @@ def forward(self, x): -self.clip, self.clip) -class RunningReturnNorm(nn.Module): - '''Return normalization (Chen et al. 2023, Eq. in paper). - Tracks running mean/var of returns across rollouts. - Normalizes: Ĝ = (G - μ(G)) / σ(G)''' - def __init__(self, init_var=2.25e16): - super().__init__() - self.register_buffer('mean', torch.zeros(1)) - self.register_buffer('var', torch.tensor(float(init_var))) - self.register_buffer('count', torch.tensor(1e-4)) - - def update(self, returns): - batch_mean = returns.mean() - batch_var = returns.var() - batch_count = returns.numel() - delta = batch_mean - self.mean - total = self.count + batch_count - self.mean = self.mean + delta * batch_count / total - m_a = self.var * self.count - m_b = batch_var * batch_count - m2 = m_a + m_b + delta**2 * self.count * batch_count / total - self.var = m2 / total - self.count = total - - def normalize(self, returns): - return (returns - self.mean) / torch.sqrt(self.var + 1e-8) - - class OrbitalDock(pufferlib.models.Default): - '''Separate actor/critic for orbital docking (STELLAR / Chen et al. 2023). + '''Separate actor/critic for orbital docking - Actor: encoder -> action mean (MLP, no LSTM) + Actor: encoder -> action mean Critic: independent encoder -> value (no shared weights with actor) - Running observation normalization applied to both paths. - Return normalization across rollouts (paper Eq. Ĝ_T). - Obs: 6 raw LVLH state values [x, y, z, vx, vy, vz]. + Running observation normalization (`RunningNorm`) applied to both paths. + Obs: 10 values [x, y, z, vx, vy, vz, dist, speed, closing_vel, time_remaining]. ''' def __init__(self, env, hidden_size=128, **kwargs): super().__init__(env, hidden_size=hidden_size, **kwargs) @@ -908,9 +881,6 @@ def __init__(self, env, hidden_size=128, **kwargs): # Running observation normalization (SB3 VecNormalize: norm_obs=True) self.obs_norm = RunningNorm(num_obs, clip=10.0) - # Return normalization (Chen et al. paper) - self.return_norm = RunningReturnNorm() - # Separate critic network (independent of actor encoder) self.critic_encoder = nn.Sequential( pufferlib.pytorch.layer_init(nn.Linear(num_obs, hidden_size)),