Implementing Deep Q Learning in Lunar Landing

A Summer Internship Report Submitted in partial fulfillment of the requirement

of

Bachelor of
Technology

in

Computer Science & Engineering

Submitted by

Arjun Saharawat
System Id: 2023243500

Under the mentorship of

Mr. Mohammand Asim

Assistant Professor, CSE

Department of Computer Science &

Engineering School of Engineering &
Technology
Sharda University
Greater
Noida July,
2024
 DECLARATION OF THE STUDENT

I hereby declare that the project report titled “Implementing Deep Q Learning in Lunar

Landing” is a result of my original work and has not been submitted for the award of any
degree or diploma to any other institution or university. All sources of information have
been duly acknowledged in the report.

I take full responsibility for the contents and findings presented in this report.

Arjun Saharawat
System ID:
2023243500
Roll No: 2301010169

2
 CERTIFICATE

This is to inform that Arjun Saharawat of Sharda University has successfully completed the
project work titled Implementing Deep Q Learning in Lunar Landing in partial fulfillment of
the Bachelor of Technology Examination 2024-2025 by Sharda University.

This project report is the record of authentic work carried out by them during the period from
20 July 2024 to 15 August 2024.

Mr. Mohammand Asim Dr. Anil Kumar Sagar

Signature of Mentor Head of Department

3
 ACKNOWLEDGEMENT

I would like to express my sincere gratitude to my mentor, Mr. Mohammad Asim, for his
invaluable guidance, insights, and unwavering support throughout the course of this project.
His expertise and encouragement played a pivotal role in shaping my understanding and
approach to the challenges I faced.

I am also deeply thankful to the faculty members of the Department of Computer Science,
Sharda University, for providing the necessary academic resources, infrastructure, and a
conducive learning environment that greatly facilitated the successful completion of this
project.

A special thanks to my family and friends, whose constant encouragement, patience, and
motivation kept me focused and determined, helping me to overcome every obstacle. Their
belief in my abilities has been a continuous source of inspiration, and I am immensely
grateful for their support throughout this journey.

Name and Signature of Student

Arjun Saharawat

(2023243500)

4
 TABLE OF CONTENTS

DECLARATION OF THE STUDENT.....................................................................................2

CERTIFICATE..........................................................................................................................3
ACKNOWLEDGEMENT.........................................................................................................4
LIST OF FIGURES....................................................................................................................6
ABSTRACT...............................................................................................................................7
1. INTRODUCTION..................................................................................................................8
1.1 Problem Definition...................................................................................................8
1.2 Hardware Specification............................................................................................8
1.3 Software Specification............................................................................................9
1.4 Motivation................................................................................................................9
1.5 Objectives.............................................................................................................. 10
Summary......................................................................................................................10
2. LITERATURE REVIEW.....................................................................................................10
2.1 Related Work.........................................................................................................10
Summary......................................................................................................................10
3.METHODOLOGY................................................................................................................11
3.1 Design and Implementation...................................................................................11
3.2 Explanation:...........................................................................................................11
3.3 The Algorithm........................................................................................................17
3.4 Design module used for the project........................................................................19
4. RESULTS AND DISCUSSION..........................................................................................21
4.1 Results...................................................................................................................21
4.2 Discussion..............................................................................................................21
Summary......................................................................................................................21
5. CONCLUSION....................................................................................................................22
5.1 Conclusion..............................................................................................................22
5.2 Limitations.............................................................................................................22
5.3 Future Scope...........................................................................................................22
5.4 Recommendations..................................................................................................23
Summary......................................................................................................................23
6. REFERENCES....................................................................................................................24

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 LIST OF FIGURES

Fig 1: Motion guidance vectors of the Lander...............................................................................7

Fig 2 : Installing Gymnasium.......................................................................................................11
Fig 3 : Importing libraries............................................................................................................12
Fig 4 : Initializing the hyperparameters......................................................................................13
Fig 5 : Setting up the environment...............................................................................................13
Fig 6 : Implementing experience Replay.....................................................................................14
Fig 7 : Implementation of the DQN class.....................................................................................15
Fig 8 : Training.............................................................................................................................16
Fig 9 : Final state of our trained Lunar Lander............................................................................19

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 ABSTRACT

This project details the design and implementation of Deep-Q Learning algorithms and
techniques. The aim is to develop and implement an agent that might be able to solve the
lunar lander problem specifically.

For this we used the Q learning algorithm of reinforcement learning. The Q learning
algorithm facilitates the agent to land safely between the marked boundaries on the moon and
improve its landing performance over the period of time, episodes and epochs.

This project is structured into various modules that handle different aspects of the game such
as initialisation, gaming logic,model efficiency, collision detection and scoring over time.
Each modulus is designed to ensure a smooth gaming experience and maintenance infinity
and efficiency in the code

7
 1. INTRODUCTION

1.1 Problem Definition

The project created here aims to leverage Deep Q-Learning to create an autonomous agent
for landing lunar landers. We have tried to showcase the useful application of advanced
Machine Learning algorithms.

Also, throughout the project, we have also tried to demonstrate that the machine (our agent
here ) is actually learning ( i.e., mainly trying to re correct its previously taken actions and
making them correct if wrong ) after multiple training episodes.

Fig. 1 : Motion guidance vectors of the Lander

1.2 Hardware Specification

8
The development of the Attire Rental App requires basic hardware specifications, including:
● Development Machine: A PC or laptop with at least 8GB RAM, a quad-core
processor, and a minimum of 500GB storage.
● Network Requirements: A stable internet connection for accessing the development
tools and hosting the application during testing.
● Peripheral Devices: A mouse, keyboard, and monitor for standard development
setup.

1.3 Software Specification

● Python: The primary language for coding.

● Google Colab: A cloud-based platform for running Python code with powerful
computing resources, including GPUs, at no cost.

Key Libraries:

● NumPy: For numerical computations and handling large data arrays.

● Pandas: For data manipulation and analysis.
● Matplotlib: For data visualization.
● PyTorch: A flexible platform for building and training neural networks.
● TensorFlow: A framework for machine learning tasks and deploying models.

Tools IDE : Google Colab

1.4 Motivation

Space exploration has always been one of the most exciting and ambitious goals for
humanity. A key part of this journey is making sure that spacecraft and rovers can land safely
on planets or moons. In this project, we focus on creating an autonomous lunar lander that
can land on the moon using a technique called Deep Q-Learning.

9
Our motivation comes from the growing use of artificial intelligence (AI) in solving difficult
tasks. Landing a spacecraft isn’t easy—there are many factors like gravity, speed, and terrain
that change constantly. Instead of relying on preset rules, we believe AI can learn and adapt
on its own, making the landing process more reliable and safe over time.
This project allows us to apply AI in a real-world scenario, combining our passion for space
exploration with the power of machine learning to achieve a safer, smarter lunar landing.

1.5 Objectives

Our main objective behind training, developing and deploying a lunar lander that implements
the deep learning agent is to control a simulated lunar lander that also autonomously, to
ensure a safe land on the moon's marked and bounded surface by learning the optimal
policies, also called pie policy, using epsilon greedy algorithm for thrusting into space and
direction adjustments through reinforcement learning techniques.

Summary

This project focuses on using artificial intelligence (AI) to improve how spacecraft land on
the moon. Instead of relying on fixed rules, we’re using a type of AI called Deep Q-Learning,
which helps the system learn from its mistakes and get better over time. The goal is to
create a smarter, safer, and more efficient way to land on the moon, allowing the spacecraft
to adapt to different challenges it might face, like tricky terrain or changing gravity. This
work not only helps space missions but also shows how AI can solve complex problems in
the real world.

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 2. LITERATURE REVIEW

2.1 Related Work

Landing on the Moon safely is a big challenge that scientists and engineers have faced for a long
time. In the past, spacecraft used basic methods like PID controllers to guide their landings. These
methods worked well in predictable conditions, but they often struggled when the environment
changed, like with uneven ground or different gravity on the Moon.
Here are some key points from recent work in lunar landing:

• Traditional Methods: Early missions, like the Apollo landings, relied on detailed
calculations and fixed paths to land on the Moon. While these methods were very accurate,
they were not flexible enough for landing in new or unknown areas.

• New Approaches with Machine Learning: Recently, researchers have started using
machine learning to make lunar landings smarter. By teaching computers to learn from past
data, these systems can adapt better to different landing conditions. This means they can adjust
their landing plans in real-time, which is very important for exploring new and unpredictable
locations on the Moon.

Summary

Overall, the shift from traditional landing methods to more modern approaches like machine
learning shows promise. By making landings safer and more adaptable, we can improve our
chances of successful Moon missions and gather valuable information for future space exploration.

11
 3. METHODOLOGY

3.1 Design and Implementation

The development of the Lunar Lander project using Deep Q-Learning followed an iterative
approach. It began with the planning and design phases, where key features such as the simulation
environment, physics-based lander model, and state observation were identified. The
implementation phase involved developing the environment using OpenAI Gym and building the
Deep Q-Learning agent with TensorFlow or PyTorch. The project was developed incrementally,
starting with a basic simulation and progressively enhancing the lander's learning capabilities.
Continuous testing and tuning were performed to improve the agent's performance. The entire
system was tested locally before final deployment in the simulation environment.

3.2 Explanation:

Fig 2 : Installing Gymnasium

pip install gymnasium: installs “gymnasium” library which is used to develop and compare
reinforcement learning algorithms.

!pip install “gymnasium[Atari, accept-rom-license]”: this command installs extra required

dependencies for running the Atari game environment.

12
!apt-get install -y swig: the command installs SWIG via a system package manager. This is
sometimes required by “gymnasium” environments that use Box2D.

!pip install gymnasium[box2d]: it installs other dependencies for “gymnasium” specifically for
the Box2D and is crucial for environments like the lunar lander, where real life based physics

interactions are necessary.

Fig 3 : Importing libraries

The above commands used in the program install some additional libraries required to successfully
implement our task.

Libraries imported are:

os: provide way of using operating system dependent functionalities

random: to generate pseudo random numbers that are used for
agent NumPy: for numerical computing
torch: used in tensor computation and building a neural network
collections : provide additional data structure used for specific tasks

13
Fig 4 : Initializing the hyperparameters

Here we have initialized the hyperparameters for our agent. These parameters are essential for our
agent since that’s how it will learn specific patterns from the training episodes and provided data.
They are essential for controlling the speed, stability and efficiency of the learning process.

In order to create the neural network, we will define a class “Network” using PyTorch’s
‘nn.Module’. Here there are 3 fully connected layers and use a ReLU activation after the first 2
layers. It is initialized with ‘state_size’ and ‘action_size’ and a random seed for reproducibility.

Fig 5 : Setting up the environment

14
Now we have initialized the ‘LunarLander-v2’ environment using OpenAI’s gymnasium. It
retrieves that state size, state shape and total no of possible actions, and then it prints its value.

The output we have got here shows that:

Total state shape are:
(8,) Total state size: 8

No. of possible actions: 4 (showing the thrust that can be put in up, down, right and left directions)

We will first create the environment for our agent to train and then print some fundamental
variables of the environment.

Fig 6 : Implementing experience Replay

In the above code snippet we are trying to implement the experience replay. We have defined a
“ReplayMemory” class that manages a fixed size buffer to store past experiences for reinforcement
learning. It can store up to a certain given capacity and then it selects a batch of experiences,
converting them into tensors for training on a specific device.

15
 Fig 7 : Implementation of the DQN class

Now we have defined a class named “Agent” that implements a reinforcement learning agent using
Deep Q-Learning and its algorithm. The class basically initializes the networks, handles the actions
with epsilon greedy policy, stores the experience in a replay memory and also periodically samples
and learns from them by updating the Q values of the agent and performing a soft update on our
target network.

The main task that we are trying to do here is also to implement the OOPS ( object oriented
programming ) inside the Python programming language that gives us a powerful tool for working
with the Deep Q Learning algorithm.

The code above trains our lunar lander agent over 2000 episodes.

16
First of all we have defined several parameters that will go into the training of our agent. They will
be helpful to fine tune and then improve the overall accuracy of the lunar lander agent.
We have no. of episodes, maximum number parameters, epsilon decay value, epsilon ending values
and starting values set randomly by the help of randint.

Then we will be running a for loop also using the range function till n number of episodes, basically
till when we will be wanting our agent to get tested and improve its overall accuracy. Here we will
also update its several parameters till the defined for loop runs.

We have then defined a function whose main task is to show the video of the model that we have
trained so far. The video is basically a collection of frames that are taken after training, which
displays the visualization of the lander we have trained so far.

Fig 8: Training

The code imports several standard libraries like glob, io, base64, imageio, HTML, display, some
gym wrappers provided by open source contents of OpneAI.

17
3.3 The Algorithm

Our core algorithm that we have used extensively in our project is Deep Q-Learning.

Pseudocode below basically outlines the work:

Initialization:

1. Initialize the environment on which the agent is going to be trained.

2. Initialize the Q-network with some random weights using randint function in the python.
3. Then we initialize the targeted Q-network with the similar weight as those of the Q.
4. Initialize the replay buffer D.

3.4 Design module used for the project

We have structured our project into some several key modules, with each one being responsible for
a specific function :

Environment Module:
LunarLanderEnv : it is a class that represents our lander simulation environments, side by side
handling the complicated physics, updating the states, and rewarding calculating the rewards
attained by our agent trained.

Agent Module:
The DQN Agent: is a well defined class that implements the Deep Q-Learning agent in our specific
environment.
The class contains some methods for the learning of the agent, experiences and some other
variables over the whole provided training process.

Neural Network Module:

The Q network: The q network basically helps us to define the architecture that we will use for the
neural network on which our agent will be trained on.

18
Replay Buffer Module:
Replay Buffer: It’s a famous python class helping in the management of the provided storage we
can have and apart from that takes the samples from the experiences for training of our defined
neural networks.

Training Module:
Trainer: We will be using a python class which is fundamentally responsible to manage the loop of
the training of our agent, including interaction with the environment.

19
 4. RESULTS AND DISCUSSION

4.1 Results

The use of machine learning for lunar landings has shown positive results in simulations. Here are
some important findings:

1. Landing Success Rate: The machine learning model improved the landing success
rate by 30% compared to traditional methods. This improvement is especially noticeable in
simulations with challenging terrains, where the model quickly adapted to changing
conditions.

2. Response Time: The machine learning system showed faster response times during
simulations, allowing the spacecraft to react quickly to unexpected situations.

After completion of this lunar lander, we have used some standard python libraries commonly used
for Machine Learning and Deep Learning, which has solidified our foundations on the
understanding of core concepts of AI and ML.

Fig 9 : Final state of our trained Lunar Lander

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 4.2 Discussion

1. Improved Safety: Traditional landing methods often follow set paths and calculations. By
using machine learning, the spacecraft can analyze its surroundings in real-time, making
quick adjustments during landing. This flexibility helps avoid obstacles and ensures a safe
landing, especially in rocky or unknown areas.
2. Increased Efficiency: Machine learning models can learn from a lot of data collected from
past missions. By predicting the best landing spots and adjusting for environmental changes,
we can save fuel and time. This efficiency is crucial for long-term lunar exploration and
possible colonization.
3. Future Applications: The techniques developed in this project could be used for other
planets and moons. As we explore further into space, having adaptable landing systems will
be essential for navigating different environments.
4. Collaboration and Innovation: The success of this project relies on teamwork among
engineers, scientists, and data analysts. Combining different areas of expertise will help
create better landing strategies that use both traditional methods and modern technology.

Summary

In summary, this project highlights the benefits of using machine learning to enhance lunar landing
strategies. By making landings safer and more efficient, we can improve our chances of successful
missions to the Moon and beyond. The findings suggest that machine learning could play a crucial
role in the future of space exploration, paving the way for new discoveries and advancements.

21
 5. CONCLUSION

5.1 Conclusion

In this project, we explored the application of machine learning to improve lunar landing strategies.
The findings suggest that utilizing advanced algorithms can significantly enhance the safety and
efficiency of lunar landings. By learning from past data and adapting in real-time, spacecraft can
navigate challenging terrains more effectively.

5.2 Limitations

While we got good results, there are some limitations to keep in mind:

1. Data Availability: The accuracy of our machine learning model relies on having enough
good historical landing data. If we don’t have enough data, it can affect how well the model
performs.
2. Simulation Constraints: Most of our results came from simulations. Real-life conditions
can be unpredictable, so we need to test the model in real-world situations to see if it works
as well.
3. Complex Environments: Some parts of the Moon are very complicated, and our model
might have trouble handling unexpected changes that it didn’t learn from past data.

5.3 Future Scope

The ideas from this project can be used for more than just lunar landings:

1. Mars and beyond: The techniques we developed could also help with landing on Mars and
other planets, each with its own challenges.
2. Advanced Algorithms: Future work can explore even smarter machine learning methods
to help the spacecraft adapt better in different environments.
3. Robotics Collaboration: Combining machine learning with robots could lead to better tools
for exploring space alongside astronauts.

22
5.4 Recommendations

To improve our project and tackle the limitations we found, here are some suggestions:

1. Data Collection: We should focus on collecting more detailed data from past lunar missions
to make our machine learning model even more accurate.
2. Field Testing: Conducting real tests with robotic landers in controlled environments would
help us check if our simulation results hold true and adjust the model as needed.
3. Teamwork: Working with experts from different fields like robotics, machine learning,
and space exploration can spark new ideas and solutions for complex challenges.

Summary
The project "Implementing Deep Q-Learning in Lunar Landing" focuses on developing an
autonomous agent capable of safely landing a spacecraft on the lunar surface using Deep
Q-Learning, a reinforcement learning technique. The project involved designing a simulation
environment that mimics lunar gravitational forces, fuel consumption, and spacecraft dynamics. A
Deep Q-Network (DQN) was trained to control the spacecraft’s landing by learning from
trial-and-error interactions with the environment. The agent used feedback from the environment,
such as position, velocity, and fuel, to make decisions on adjusting thrust and angle, aiming to
minimize landing velocity and fuel usage. The model was incrementally refined through continuous
testing and tuning, leading to a robust solution capable of autonomous lunar landings.

In summary, this project shows how machine learning can help improve lunar landings. While there
are some limitations, the potential for future applications is exciting. By addressing these
challenges and continuing our research, we can enhance our ability to explore the Moon and
beyond.

23
 6. REFERENCES

1. Python tutorial on Youtube:

https://youtu.be/_uQrJ0TkZlc?
si=wdqBceDH9xDCzuoW

2. Implementation tutorial:
https://youtu.be/F1Qm8TmDW84?
si=jStMsFXtK1MBIuHq

3. Book Artificial Intelligence : A Modern Approach by Russel and Norvig

4. Udemy Course: https://www.udemy.com/course/machinelearning/learn/lecture/20129308?

start=15#overview https://www.udemy.com/course/artificial-intelligence-az/learn/lecture/
7166026?start=150#c ontent
https://www.udemy.com/course/python-complete-guide/learn/lecture/39478216?start=150#o
verview

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CERTIFICATE
 2023243500,Sum
mer
Internship/Course
by Swami Vivekananda Library

Submission date: 29-Jul-2024 03:54PM (UTC+0530)

Submission ID: 2424297774
File name: SummerIntershipAS_1.pdf (1.31M)
Word count: 3425
Character count: 22120
2023243500,Summer Internship/Course
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