Underwater robot simulation platform improves real-world learning and control
FinsSim: A Reality-Aligned Integrated Simulation Platform for Underwater Robot Learning
Robotics
Summary
Training robots to work underwater is hard because real-world testing is expensive and complicated. The authors created a simulation platform called FinsSim that mimics underwater conditions closely and helps robots learn how to move and navigate under water. They included detailed physics, sensor setups, and control methods to make sure what works in simulation also works when the robot is deployed. Tests showed that robots trained with FinsSim could successfully transfer their skills to the real world.
What this means in practice
- •For underwater robotics engineers: Use FinsSim to develop and test control and navigation algorithms that can be reliably transferred to underwater robots operating in real environments.
- •For marine environmental monitoring teams: Employ FinsSim-trained robot controllers to deploy autonomous underwater robots for monitoring marine ecosystems with reduced need for costly real-world testing.
Authors
Yu Zhang, Yuanmingqing Song, Xiangyun Rao, Pangkit Fong, Kunhao Zhang, Chongrong Fang, Jianping He
Abstract
Underwater robot learning relies on simulators that integrate high-fidelity hydrodynamics, convenient learning interfaces, and a credible transition to real scenarios. In this work, we present FinsSim, a reality-aligned integrated simulation platform for Sim-to-Real underwater robot learning. FinsSim first constructs high-fidelity simulation with selectable backends to adapt to diverse requirements. To facilitate underwater robot research, it further offers standard control baselines, alongside with unified robot learning workflows. For reliable Sim-to-Real transfer, FinsSim adopts a multi-sensor fusion scheme to provide low-cost yet precise localization. Moreover, it implements calibrated thruster-hydrodynamics models and a constrained wrench allocation algorithm. Bridging these modules by ROS~2, FinsSim establishes a complete Sim-to-Real transfer pipeline. Through matched simulations and experiments, it is demonstrated that reliable Sim-to-Real transfer of underwater robot control policies can be achieved with the FinsSim framework. Separate ablation studies also validate that the modules of FinsSim can address the pivotal issues of underwater Sim-to-Real from different aspects. Overall, this work aims to bridge the gap between theoretical research and practical applications, ultimately driving advancements in the field of underwater robotics.