LOCAL CMA-ES · FALCON 9 CLASS RTLS

SpaceY

A training gym that lives entirely in this tab — no server, nothing uploaded. Hansen sep-CMA-ES (λ 64, μ 32) fits a residual net on top of Falcon 9 Block 5–class first-stage GNC and walks it through a return to LZ-1: Pad slam → 2 km hop → grid-fin glide → full RTLS from ~80 km.

The net starts at 21→8→10 (266 w) and grows a hidden layer as each rung unlocks — up to 10 hidden (914 w). It sees a receding-horizon goal from live state (when to light, remaining divert, when to stand up), not a frozen spawn path. Unpowered GNC holds tail-first with engines toward the pad so grid fins can kill miss; Merlin waits for a 1-engine suicide. Three-wide is only a short pulse when one Merlin cannot stop. The score pays ballistic miss killed before light and taxes extra lights, engine-on time, and thrusting away while still short.

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