I can't post a copy of the journal here for copyright reasons, but here is the Pi code for a dual motor X-Y mirror auto-aligner for fiber using machine learning.

Collections (durham.ac.uk)

Article:

Review of Scientific Instruments 92, 015117 (2021); https://doi.org/10.1063/5.0032588

Uses 4 steppers, 2 XY mounts, and a detector.

Needs an initial human alignment to get light thru the system.. Then open source software called M-Loop does the thinking and commands the peaking.. Averaging just slightly better then a highly skilled human. But certainly doing it faster.

Steve