A Simulation Platform for AUV Fault Recovery: Exploring LLM-Based Diagnostic Strategies

arXiv:2609.20620 · cs.RO, cs.AI · Submitted 2026-09-17 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-17

Updated: 2026-09-17

Comments: 6 pages, 3 figures, 2 tables. Accepted for presentation at the 2026 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV 2026), Southampton, UK. This is the author-accepted manuscript

Code: https://github.com/ggml-org/llama.cpp

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Trace — 9× in this paper · explained in 2 episodes
• Accuracy — 6× in this paper · explained in 1 episode
• Reasoning Traces — 5× in this paper · explained in 3 episodes
• Failure Modes — 4× in this paper · explained in 3 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Simulation Platform for AUV Recovery — 2× in this paper
• Structured Prompting — 2× in this paper · explained in 2 episodes
• Verification — 2× in this paper · explained in 2 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Ablation Studies — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Diagnostic Tools — 1× in this paper · explained in 2 episodes
• Edge AI — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Hallucination — 1× in this paper · explained in 3 episodes
• LLM-as-a-Judge — 1× in this paper · explained in 3 episodes
• Large Language Model (LLM) — 1× in this paper · explained in 3 episodes
• Monterey Bay Aquarium Research Institute — 1× in this paper
• OES Autonomous Underwater Vehicles — 1× in this paper

Sources

• A Collaborative Reasoning Framework for Anomaly Diagnostics in Underwater Robotics

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving