CORL-AUV: CFD Oriented Reinforcement Learning for Autonomous Underwater Vehicles

arXiv:2607.09557 · cs.RO · Submitted 2026-07-10 · Read on arXiv

cs.RO

Submitted: 2026-07-10

Updated: 2026-10-04

Code: https://github.com/isaac-sim/IsaacSim

Terminology

• Reinforcement Learning — 13× in this paper · explained in 4 episodes
• Reward Shaping — 12× in this paper · explained in 2 episodes
• Fidelity — 11× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 7× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 4× in this paper · explained in 2 episodes
• Sim-to-Real Gap — 4× in this paper · explained in 6 episodes
• Zero-Shot Transfer — 4× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 3× in this paper · explained in 24 episodes
• Alignment — 2× in this paper · explained in 1 episode
• International Conference on Robotics and Automation — 2× in this paper
• Proximal Policy Optimization — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Neural Network Approximation — 1× in this paper · explained in 2 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 4 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• System Identification — 1× in this paper · explained in 3 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• Learning Agile Swimming: An End-to-End Approach without CPGs
• Fast Policy Learning for 6-DOF Position Control of Underwater Vehicles
• Sim2Swim: Zero-Shot Velocity Control for Agile AUV Maneuvering in 3 Minutes
• FishGym: A High-Performance Physics-based Simulation Framework for Underwater Robot Learning
• Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors
• Proximal Policy Optimization Algorithms

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