Author

Jian-Hua Zhang

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#artificial intelligence Preprint Oct 2026

A Unified Dynamics Framework for Reinforcement Learning and Classical Control of a Six-DOF Pipeline-Tracking ROV in NVIDIA Isaac Sim

Reinforcement learning controllers for underwater vehicles are usually trained against one physics representation and deployed against another, so reported performance does not always describe behavior outside training. This paper presents a pipeline-tracking architecture for a six-degree-of-freedom remotely operated v...

Cheng Siong Chin, M. Venkateshkumar, Jian-Hua Zhang · 0 citations

Jul 2026

What the Waveform Knows: Transparent-first Speech and Audio Intelligence with Caption Studio

A principal contribution of this work is the transparency-first framework, in which every reported metric is explicitly identified as measured, derived, or unavailable, thereby improving the traceability, interpretability, and reliability of speech analytics.

C. Chin, Jianhua Zhang, M. Venkateshkumar · arXiv.org · 0 citations