7 papers
When Motion Learns to Listen: Diffusion-Prior Lyapunov Actor-Critic Framework with LLM Guidance for Stable and Robust AUV Control in Underwater Tasks
Jingzehua Xu, Weiyi Liu, Weihang Zhang +4
Autonomous Underwater Vehicles (AUVs) are indispensable for marine exploration; yet, their control is hindered by nonlinear hydrodynamics, time-varying disturbances, and localizati…
Never Too Rigid to Reach: Adaptive Virtual Model Control with LLM- and Lyapunov-Based Reinforcement Learning
Jingzehua Xu, Yangyang Li, Yangfei Chen +2
Robotic arms are increasingly deployed in uncertain environments, yet conventional control pipelines often become rigid and brittle when exposed to perturbations or incomplete info…
Ocean Diviner: A Diffusion-Augmented Reinforcement Learning Framework for AUV Robust Control in Underwater Tasks
Jingzehua Xu, Guanwen Xie, Weiyi Liu +6
Autonomous Underwater Vehicles (AUVs) are essential for marine exploration, yet their control remains highly challenging due to nonlinear dynamics and uncertain environmental distu…
Make Your AUV Adaptive: An Environment-Aware Reinforcement Learning Framework For Underwater Tasks
Yimian Ding, Jingzehua Xu, Guanwen Xie +2
This study presents a novel environment-aware reinforcement learning (RL) framework designed to augment the operational capabilities of autonomous underwater vehicles (AUVs) in und…
Never too Cocky to Cooperate: An FIM and RL-based USV-AUV Collaborative System for Underwater Tasks in Extreme Sea Conditions
Jingzehua Xu, Guanwen Xie, Jiwei Tang +5
This paper develops a novel unmanned surface vehicle (USV)-autonomous underwater vehicle (AUV) collaborative system designed to enhance underwater task performance in extreme sea c…
Never too Prim to Swim: An LLM-Enhanced RL-based Adaptive S-Surface Controller for AUVs under Extreme Sea Conditions
Guanwen Xie, Jingzehua Xu, Yimian Ding +3
The adaptivity and maneuvering capabilities of Autonomous Underwater Vehicles (AUVs) have drawn significant attention in oceanic research, due to the unpredictable disturbances and…