AquaCap: A Training-Free Underwater Embodied Agent with Code-as-Policy

arXiv:2609.23133 · cs.RO · Submitted 2026-09-19 · Read on arXiv

cs.RO

Submitted: 2026-09-19

Updated: 2026-09-19

Terminology

• Alignment — 11× in this paper · explained in 1 episode
• Verification — 8× in this paper · explained in 2 episodes
• Task Planning — 6× in this paper · explained in 2 episodes
• Adaptation — 4× in this paper · explained in 1 episode
• Ablation — 3× in this paper · explained in 1 episode
• Calibration — 3× in this paper · explained in 7 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Adaptability — 2× in this paper · explained in 1 episode
• Affordance — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Action Chunking — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes
• alpha — 1× in this paper · explained in 1 episode

Sources

• Self-Improving Autonomous Underwater Manipulation
• UMI-Underwater: Learning Underwater Manipulation without Underwater Teleoperation
• Bi-AQUA: Bilateral Control-Based Imitation Learning for Underwater Robot Arms via Lighting-Aware Action Chunking with Transformers
• OpenVLA: An Open-Source Vision-Language-Action Model
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• Open X-Embodiment: Robotic Learning Datasets and RT-X Models
• USIM and U0: A Vision-Language-Action Dataset and Model for General Underwater Robots
• Code as Policies: Language Model Programs for Embodied Control
• UnderwaterVLA: Dual-brain Vision-Language-Action architecture for Autonomous Underwater Navigation
• OceanChat: Piloting Autonomous Underwater Vehicles in Natural Language
• OceanPlan: Hierarchical Planning and Replanning for Natural Language AUV Piloting in Large-scale Unexplored Ocean Environments
• A Collaborative Reasoning Framework for Anomaly Diagnostics in Underwater Robotics
• EasyUUV: An LLM-Enhanced Universal and Lightweight Sim-to-Real Reinforcement Learning Framework for UUV Attitude Control
• ChatSim: Underwater Simulation with Natural Language Prompting
• Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
• Towards Reliable Code-as-Policies: A Neuro-Symbolic Framework for Embodied Task Planning
• CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation
• SAM 3: Segment Anything with Concepts
• Stonefish: Supporting Machine Learning Research in Marine Robotics

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