基于课程式深度强化学习的火箭自主着陆鲁棒控制方法（面对大气不确定性）
Curriculum-Based Deep Reinforcement Learning for Robust Autonomous Rocket Landing under Atmospheric Uncertainty
AI 导读
一篇 arXiv 论文提出课程驱动的 PPO 强化学习框架，用于含风切变、湍流、阵风及推进不确定性的三维火箭着陆控制。在 100,000 次评估中成功率达 96.656%（95% Wilson 置信区间 96.543–96.766%），成功率从零扰动下的 98.84% 降至最高天气严重度档的 88.07%。逻辑回归分析显示平均风速是与成功最相关的因素。
正文 · 原文
Abstract:Autonomous far-range rocket landing is a challenging control problem because navigation, descent-rate regulation, attitude management, and fuel use must be coordinated in the presence of uncertain atmospheric and vehicle dynamics. This paper presents a curriculum-driven proximal policy optimization (PPO) framework for three-dimensional rocket landing in a stochastic environment incorporating altitude-dependent aerodynamic drag, wind shear, temporally correlated turbulence, discrete gusts, uncertain propulsion and aerodynamic parameters, thrust-vector misalignment, engine lag, actuator-gain variation, noisy observations, and command latency. Learning is organised into far-range approach, soft descent, and integrated landing stages. Policy transfer, critic warm-up after reward changes, rehearsal of earlier tasks, and progressive expansion of weather severity are used to support learning across these coupled phases. Across 100,000 evaluation episodes, the policy achieves 96,656 successful landings, corresponding to a success rate of 96.656\% and a 95\% Wilson confidence interval of 96.543--96.766\%. Success decreases from 98.84\% under zero-disturbance conditions to 88.07\% in the highest weather-severity band. Successful touchdowns exhibit small miss distances and low residual horizontal and vertical velocities. An exploratory logistic-regression analysis identifies mean wind speed as the strongest measured correlate of success, with initial distance, initial altitude, initial vertical velocity, and wind-shear exponent also associated with outcomes. The results quantify both the effectiveness of the learned policy over the evaluated disturbance distribution and the degradation that occurs under severe compound atmospheric conditions.
| Comments: | 21 pages, 12 figures |
| Subjects: | Artificial Intelligence (cs.AI) |
| Cite as: | arXiv:2610.38636 [cs.AI] |
| (or arXiv:2610.38636v1 [cs.AI] for this version) | |
| https://doi.org/10.48550/arXiv.2610.38636 arXiv-issued DOI via DataCite |
Submission history
From: Atin Chowdhury Mr. [view email]
[v1]
Wed, 28 Oct 2026 10:51:29 UTC (3,502 KB)
来源：arXiv cs.AI · arxiv.org