DreamLander: A 6-DOF World Model based Reinforcement Learning Planetary Lander

Engineering notes

Engineering notes will be added by the Robot Papers editorial team.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Soft powered descent landings are becoming evermore important in the field of space exploration and scientific advancement, because of their ability to deliver mission critical payloads, both highly accurately and safely. The high efficiency restriction on planetary landings due to the severely limited fuel supply results in the need for optimal guidance trajectories and control. Model based reinforcement learning is proving to be an important tool in simplifying the highly complex process of generating optimal guidance trajectories and control. In this work, we present DreamLander, a state of the art model based reinforcement learning algorithm based on DreamerV3, to generate optimal guidance and control for a realistic 6 degree of freedom entry descent landing problem. The model based approach creates a sample efficient and highly generalizable model that can be applied to a variety of scenarios whilst maintaining a high degree of accuracy, landing within 2 meters of the designated landing zone, and with velocity norm less than 0.3 meters per second. DreamLander makes use of state sensor observations, making progress toward End-to-End solutions of the Entry Descent Landing problem.

Links and sources

• Official / arXiv page
• PDF from original source

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