FinsSim: A Reality-Aligned Integrated Simulation Platform for Underwater Robot Learning

arXiv:2609.23943 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-20 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-20

Updated: 2026-09-20

Comments: 8 pages, 6 figures

Code: https://github.com/clydemcqueen/orca4

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

Terminology

• Calibration — 14× in this paper · explained in 7 episodes
• Sim-to-Real Transfer — 13× in this paper · explained in 2 episodes
• Fidelity — 8× in this paper · explained in 2 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Reinforcement Learning — 6× in this paper · explained in 4 episodes
• Accuracy — 3× in this paper · explained in 1 episode
• Allocator — 2× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Abstraction — 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
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• PID Controller — 1× in this paper · explained in 2 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 24 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• System Identification — 1× in this paper · explained in 3 episodes
• Transferability — 1× in this paper · explained in 4 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• Learning to Swim: Reinforcement Learning for 6-DOF Control of Thruster-driven Autonomous Underwater Vehicles
• MarineGym: A High-Performance Reinforcement Learning Platform for Underwater Robotics
• A Preview of HoloOcean 2.0
• Sim2Swim: Zero-Shot Velocity Control for Agile AUV Maneuvering in 3 Minutes
• Fast Policy Learning for 6-DOF Position Control of Underwater Vehicles
• Uncertainty-Aware Adaptive Dynamics For Underwater Vehicle-Manipulator Robots
• Learning to Dock: A Simulation-based Study on Closing the Sim2Real Gap in Autonomous Underwater Docking
• Unity: A General Platform for Intelligent Agents
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
• Proximal Policy Optimization Algorithms

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