Sim-to-Real Transfer and Robustness Evaluation of Reinforcement Learning Control with Integrated Perception on an ASV for Floating Waste Capture

Luis F. W. Batista, Stéphanie Aravecchia, Cédric Pradalier

Autonomous surface vessels for floating-waste removal operate under varying hydrodynamics, external disturbances, and challenging water-surface perception. We present a field-valid…