Skip to content

69 Update Codebase to Perform Propagation in Gym Environment using NN controllers #70

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
schmidt1139 wants to merge 18 commits into
base: 66-separate-nns-for-throttle-and-direction
Choose a base branch
from
Open

69 Update Codebase to Perform Propagation in Gym Environment using NN controllers #70

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
18 commits
Select commit Hold shift + click to select a range
5506ff9
Clean up: proper path joining
schmidt1139 Jul 10, 2025
196703d
Get working setup post utility updates
schmidt1139 Jul 10, 2025
385a47d
Adding more constants with appropriate units
schmidt1139 Jul 17, 2025
69cd81b
Switching control args to optional in methods
schmidt1139 Jul 17, 2025
1c51555
Changing name to be more generic
schmidt1139 Jul 17, 2025
7ed9c0c
Bug fix to start indexing at zero
schmidt1139 Jul 17, 2025
818f24d
Check if the loss parameter exists
schmidt1139 Jul 17, 2025
9fa1faf
Adding correct EOM for env updates
schmidt1139 Jul 17, 2025
595deb8
Adding a polar state update method
schmidt1139 Jul 17, 2025
9156d19
Updating env imports to include new utils
schmidt1139 Jul 17, 2025
be68b0a
Updating env action/state ranges to be cartesian
schmidt1139 Jul 17, 2025
7e5b610
Changing from beta angle to alpha vec basis
schmidt1139 Jul 17, 2025
c064e0d
misc clean up
schmidt1139 Jul 17, 2025
35608dd
Updates to test to ensure TBO transfer test works
schmidt1139 Jul 17, 2025
530821e
Adding three regression tests for gym env
schmidt1139 Jul 17, 2025
bbb035b
Adding regression test data
schmidt1139 Jul 17, 2025
9314d16
Adding these nns previously stored offline
schmidt1139 Jul 17, 2025
966791c
Linting and formatting
schmidt1139 Jul 17, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Binary file added data/neural_networks/nn_controller_weights_bang_bang_alpha.pth
View file
Open in desktop
Binary file not shown.
Binary file added data/neural_networks/nn_controller_weights_bang_bang_u_only.pth
View file
Open in desktop
Binary file not shown.
76 changes: 76 additions & 0 deletions data/test_data/test_env_step_no_action/output_test_env_step_no_action_log.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,76 @@
Test Environment Step with No Action
Environment has been reset
Seed: 42
Observation:
X: 3.486322e+07
Y: -2.2986622e+08
VX: 23.379026
VY: 3.545837
m: 3366.0
mu: 1.3e+11
sma_target: 1.4959802e+08


Info:
Elapsed time: 0.0
ODE Solution: None
delta_state: None
planet_radii: [695700.]
a: 2.32495e+08
e: 1.2412671e-16
w: 26.56505
theta: 342.0591
max_thrust: 0.00133
ISP: 3872.0


Action
u: 0.0
alpha_x: 0.0
alpha_y: 0.0


Observation:
X: 3.4947384e+07
Y: -2.2985344e+08
VX: 23.377726
VY: 3.5543969
m: 3366.0
mu: 1.3e+11
sma_target: 1.4959802e+08


reward: 0.0
terminated: False
truncated: False


Info post-step:
Elapsed time: 3600.0
ODE Solution: message: The solver successfully reached the end of the integration interval.
success: True
status: 0
t: [ 0.000e+00 1.881e+00 2.070e+01 2.088e+02 2.090e+03
3.600e+03]
y: [[ 3.486e+07 3.486e+07 ... 3.491e+07 3.495e+07]
[-2.299e+08 -2.299e+08 ... -2.299e+08 -2.299e+08]
...
[ 3.546e+00 3.546e+00 ... 3.551e+00 3.554e+00]
[ 3.366e+03 3.366e+03 ... 3.366e+03 3.366e+03]]
sol: None
t_events: None
y_events: None
nfev: 32
njev: 0
nlu: 0
delta_state: [ 8.4164000e+04 1.2784000e+04 -1.3008118e-03 8.5599422e-03
0.0000000e+00]
planet_radii: [695700.]
a: 2.3249498e+08
e: 9.084384e-08
w: 170.61444
theta: 179.25969
max_thrust: 0.00133
ISP: 3872.0


76 changes: 76 additions & 0 deletions data/test_data/test_env_step_no_action/truth_test_env_step_no_action_log.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,76 @@
Test Environment Step with No Action
Environment has been reset
Seed: 42
Observation:
X: 3.486322e+07
Y: -2.2986622e+08
VX: 23.379026
VY: 3.545837
m: 3366.0
mu: 1.3e+11
sma_target: 1.4959802e+08


Info:
Elapsed time: 0.0
ODE Solution: None
delta_state: None
planet_radii: [695700.]
a: 2.32495e+08
e: 1.2412671e-16
w: 26.56505
theta: 342.0591
max_thrust: 0.00133
ISP: 3872.0


Action
u: 0.0
alpha_x: 0.0
alpha_y: 0.0


Observation:
X: 3.4947384e+07
Y: -2.2985344e+08
VX: 23.377726
VY: 3.5543969
m: 3366.0
mu: 1.3e+11
sma_target: 1.4959802e+08


reward: 0.0
terminated: False
truncated: False


Info post-step:
Elapsed time: 3600.0
ODE Solution: message: The solver successfully reached the end of the integration interval.
success: True
status: 0
t: [ 0.000e+00 1.881e+00 2.070e+01 2.088e+02 2.090e+03
3.600e+03]
y: [[ 3.486e+07 3.486e+07 ... 3.491e+07 3.495e+07]
[-2.299e+08 -2.299e+08 ... -2.299e+08 -2.299e+08]
...
[ 3.546e+00 3.546e+00 ... 3.551e+00 3.554e+00]
[ 3.366e+03 3.366e+03 ... 3.366e+03 3.366e+03]]
sol: None
t_events: None
y_events: None
nfev: 32
njev: 0
nlu: 0
delta_state: [ 8.4164000e+04 1.2784000e+04 -1.3008118e-03 8.5599422e-03
0.0000000e+00]
planet_radii: [695700.]
a: 2.3249498e+08
e: 9.084384e-08
w: 170.61444
theta: 179.25969
max_thrust: 0.00133
ISP: 3872.0


76 changes: 76 additions & 0 deletions data/test_data/test_env_step_with_action/output_test_env_step_with_action_log.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,76 @@
Test Environment Step with Thrust Action
Environment has been reset
Seed: 42
Observation:
X: 3.486322e+07
Y: -2.2986622e+08
VX: 23.379026
VY: 3.545837
m: 3366.0
mu: 1.3e+11
sma_target: 1.4959802e+08


Info:
Elapsed time: 0.0
ODE Solution: None
delta_state: None
planet_radii: [695700.]
a: 2.32495e+08
e: 1.2412671e-16
w: 26.56505
theta: 342.0591
max_thrust: 0.00133
ISP: 3872.0


Action
u: 1.0
alpha_x: 1.0
alpha_y: 1.0


Observation:
X: 3.4947384e+07
Y: -2.2985344e+08
VX: 23.378437
VY: 3.555108
m: 3365.874
mu: 1.3e+11
sma_target: 1.4959802e+08


reward: 0.0
terminated: False
truncated: False


Info post-step:
Elapsed time: 3600.0
ODE Solution: message: The solver successfully reached the end of the integration interval.
success: True
status: 0
t: [ 0.000e+00 1.866e+00 2.053e+01 2.071e+02 2.073e+03
3.600e+03]
y: [[ 3.486e+07 3.486e+07 ... 3.491e+07 3.495e+07]
[-2.299e+08 -2.299e+08 ... -2.299e+08 -2.299e+08]
...
[ 3.546e+00 3.546e+00 ... 3.551e+00 3.555e+00]
[ 3.366e+03 3.366e+03 ... 3.366e+03 3.366e+03]]
sol: None
t_events: None
y_events: None
nfev: 32
njev: 0
nlu: 0
delta_state: [ 8.4164000e+04 1.2784000e+04 -5.8937073e-04 9.2711449e-03
-1.2597656e-01]
planet_radii: [695700.]
a: 2.3251091e+08
e: 7.2937924e-05
w: 28.867548
theta: 339.77762
max_thrust: 0.00133
ISP: 3872.0


76 changes: 76 additions & 0 deletions data/test_data/test_env_step_with_action/truth_test_env_step_with_action_log.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,76 @@
Test Environment Step with Thrust Action
Environment has been reset
Seed: 42
Observation:
X: 3.486322e+07
Y: -2.2986622e+08
VX: 23.379026
VY: 3.545837
m: 3366.0
mu: 1.3e+11
sma_target: 1.4959802e+08


Info:
Elapsed time: 0.0
ODE Solution: None
delta_state: None
planet_radii: [695700.]
a: 2.32495e+08
e: 1.2412671e-16
w: 26.56505
theta: 342.0591
max_thrust: 0.00133
ISP: 3872.0


Action
u: 1.0
alpha_x: 1.0
alpha_y: 1.0


Observation:
X: 3.4947384e+07
Y: -2.2985344e+08
VX: 23.378437
VY: 3.555108
m: 3365.874
mu: 1.3e+11
sma_target: 1.4959802e+08


reward: 0.0
terminated: False
truncated: False


Info post-step:
Elapsed time: 3600.0
ODE Solution: message: The solver successfully reached the end of the integration interval.
success: True
status: 0
t: [ 0.000e+00 1.866e+00 2.053e+01 2.071e+02 2.073e+03
3.600e+03]
y: [[ 3.486e+07 3.486e+07 ... 3.491e+07 3.495e+07]
[-2.299e+08 -2.299e+08 ... -2.299e+08 -2.299e+08]
...
[ 3.546e+00 3.546e+00 ... 3.551e+00 3.555e+00]
[ 3.366e+03 3.366e+03 ... 3.366e+03 3.366e+03]]
sol: None
t_events: None
y_events: None
nfev: 32
njev: 0
nlu: 0
delta_state: [ 8.4164000e+04 1.2784000e+04 -5.8937073e-04 9.2711449e-03
-1.2597656e-01]
planet_radii: [695700.]
a: 2.3251091e+08
e: 7.2937924e-05
w: 28.867548
theta: 339.77762
max_thrust: 0.00133
ISP: 3872.0


Binary file added ...est_data/test_env_step_with_nn_action/nn_controller_weights_smoothed_full_10e3_epochs.pth
View file
Open in desktop
Binary file not shown.
77 changes: 77 additions & 0 deletions data/test_data/test_env_step_with_nn_action/output_test_env_step_with_nn_action_log.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,77 @@
Test Environment Step with Neural Network Thrust Action
Environment has been reset
Seed: 42
Neural Net loaded from: C:\Users\micha\MSI_Data\Masters_Thesis\astro_compass\data\test_data\test_env_step_with_nn_action\nn_controller_weights_smoothed_full_10e3_epochs.pth
Observation:
X: 3.486322e+07
Y: -2.2986622e+08
VX: 23.379026
VY: 3.545837
m: 3366.0
mu: 1.3e+11
sma_target: 1.4959802e+08


Info:
Elapsed time: 0.0
ODE Solution: None
delta_state: None
planet_radii: [695700.]
a: 2.32495e+08
e: 1.2412671e-16
w: 26.56505
theta: 342.0591
max_thrust: 0.00133
ISP: 3872.0


Action
u: 0.28366512
alpha_x: -0.22682723
alpha_y: -0.17161115


Observation:
X: 3.494738e+07
Y: -2.2985344e+08
VX: 23.376595
VY: 3.553541
m: 3365.964
mu: 1.3e+11
sma_target: 1.4959802e+08


reward: 0.0
terminated: False
truncated: False


Info post-step:
Elapsed time: 3600.0
ODE Solution: message: The solver successfully reached the end of the integration interval.
success: True
status: 0
t: [ 0.000e+00 1.900e+00 2.090e+01 2.109e+02 2.111e+03
3.600e+03]
y: [[ 3.486e+07 3.486e+07 ... 3.491e+07 3.495e+07]
[-2.299e+08 -2.299e+08 ... -2.299e+08 -2.299e+08]
...
[ 3.546e+00 3.546e+00 ... 3.550e+00 3.554e+00]
[ 3.366e+03 3.366e+03 ... 3.366e+03 3.366e+03]]
sol: None
t_events: None
y_events: None
nfev: 32
njev: 0
nlu: 0
delta_state: [ 8.4160000e+04 1.2784000e+04 -2.4318695e-03 7.7040195e-03
-3.5888672e-02]
planet_radii: [695700.]
a: 2.3247046e+08
e: 0.00010934778
w: 156.20451
theta: 164.84969
max_thrust: 0.00133
ISP: 3872.0


Loading