All You Need Is Low Fidelity: Zero-Shot Sim-to-Real of Learned Robotic Fish Control

arXiv:2609.36993 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Terminology

• Trajectory Generator — 17× in this paper
• Fidelity — 9× in this paper · explained in 2 episodes
• Actor — 8× in this paper · explained in 3 episodes
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• System Identification — 5× in this paper · explained in 3 episodes
• Digital Twin — 2× in this paper · explained in 4 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Action Space — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Closed-Loop Control — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Hysteresis — 1× in this paper · explained in 3 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Soft Actor-Critic (SAC) — 1× in this paper · explained in 2 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• FishGym: A High-Performance Physics-based Simulation Framework for Underwater Robot Learning
• Simple Models, Real Swimming: Digital Twins for Tendon-Driven Underwater Robots
• The CMA Evolution Strategy: A Tutorial
• Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor

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