PPO LunarLander flip, recover and land agent This repository contains a Stable Baselines3 PPO actor critic agent trained on a customised LunarLander v3 environment. Learned task The curriculum teaches one policy to: 1. complete a full rotation in a fixed direction; 2. recover upright and arrest angular motion; 3. enter the landing zone; 4. reduce descent speed and land safely. Reward configuration version: v5 soft touchdown refinement . Changes in this upload 1. Continued from the selected Phase D checkpoint. 2. Added an altitude dependent vertical speed target. 3. Added a near ground quadratic descent overspeed penalty. 4. Added a dedicated in zone crash penalty. 5. Reduced risky late horizontal corrections using a deadband. Reward design The shaped reward includes: one off rotation progress and flip completion rewards; an upright post flip recovery reward; horizontal guidance towards the landing zone; an altitude dependent vertical speed target; attitude and angular speed control; a near ground descent overspeed penalty; distinct penalties for off zone landings and in zone crashes. Parameter Value : required rotations 1 rotation direction 1 upright tolerance radians 0.3 recovery…
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