W. Niu

Sim-to-Real Yaw Control of a Robotic Sea Lion Using Deep Reinforcement Learning

Yaw regulation of biomimetic underwater robots is complicated by flexible body motion, nonlinear hydrodynamics, and coupled actuation. This study examines whether a policy trained in simulation can be deployed on an existing robotic sea lion (RSL) without changing its hardware or low-level controllers. A deep determini...