Altitude - sinusoid¶
| Action space | Box((2,)), all actions in [-1, 1] |
| Observation space | Box((10,)) |
| Tracked variable(s) | altitude (m) |
| Episode length | 480 steps (480 s at 1 s per step) |
| Import | from target_gym import Airplane2D, PlaneParams |
| Cite as | plane_sine-v1 |
Action space¶
Actions are normalised to [-1, 1] and mapped onto the plant's real
actuator range inside the environment.
| # | meaning | min | max |
|---|---|---|---|
| 0 | power | -1 | 1 |
| 1 | stick | -1 | 1 |
Observation space¶
10 values. Indices (1,) carry the tracked variable(s) that the reward scores.
Rewards¶
Log-scaled altitude tracking, optionally coupled to an airspeed hold.
Every environment in this suite scores on one contract: the reward is
(tracking terms, multiplied) x (1 - weighted costs), bounded in
[0, 1], and reaches 1 only while the target is held exactly. See
Reward shaping.
Starting state¶
reset samples the initial condition and the target; state has 17 fields.
Episode end¶
Termination. Return True if the episode should terminate.
Truncation. After 480 steps.
Baselines¶
A tuned PID ships with this environment.
Arguments¶
| parameter | default |
|---|---|
delta_t |
1 |
max_steps_in_episode |
480 |
gravity |
9.81 |
initial_mass |
73500 |
thrust_output_at_sea_level |
240000 |
air_density_at_sea_level |
1.225 |
frontal_surface |
12.6 |
wings_surface |
122.6 |
C_x0 |
0.095 |
C_z0 |
0.9 |
initial_fuel_quantity |
19088 |
specific_fuel_consumption |
0.0175 |
cl_alpha |
0.08786 |
cl0 |
0.2 |
| … | 43 more, see the params dataclass |