1 citations · 1 across the 9 of their papers we have counts for
9 papers
Characterizing Wildlife Response to Biomimetic and Conventional Underwater Vehicles
Huy Pham, Levi Cai, Yogesh Girdhar +2
Autonomous underwater vehicles (AUVs) are a promising alternative to divers for scalable collection of natural ocean ecology data. However, these robots may disturb local fauna and…
CORL-AUV: CFD Oriented Reinforcement Learning for Autonomous Underwater Vehicles
Steven Roche, Milo Van Mooy, Nathan McGuire +3
Precise control and positioning of autonomous underwater vehicles (AUVs) is critical for sampling, maintenance, and survey applications. Reinforcement learning (RL) offers rapid co…
A Proxy Consistency Loss for Grounded Fusion of Earth Observation and Location Encoders
Zhongying Wang, Kevin Lane, Levi Cai +2
Supervised learning with Earth observation inputs is often limited by the sparsity of high-quality labeled or in-situ measured data to use as training labels. With the abundance of…
Autonomous Sea Turtle Robot for Marine Fieldwork
Zach J. Patterson, Emily Sologuren, Levi Cai +4
Autonomous robots can transform how we observe marine ecosystems, but close-range operation in reefs and other cluttered habitats remains difficult. Vehicles must maneuver safely n…
A Roadmap for Climate-Relevant Robotics Research
Alan Papalia, Charles Dawson, Laurentiu L. Anton +25
Climate change is one of the defining challenges of the 21st century, and many in the robotics community are looking for ways to contribute. This paper presents a roadmap for clima…
Measuring and Minimizing Disturbance of Marine Animals to Underwater Vehicles
Levi Cai, Youenn Jézéquel, T. Aran Mooney +1
Do fish respond to the presence of underwater vehicles, potentially biasing our estimates about them? If so, are there strategies to measure and mitigate this response? This work p…
DataS^3: Dataset Subset Selection for Specialization
Neha Hulkund, Alaa Maalouf, Levi Cai +15
In many real-world machine learning (ML) applications (e.g. detecting broken bones in x-ray images, detecting species in camera traps), in practice models need to perform well on s…
Learning to Swim: Reinforcement Learning for 6-DOF Control of Thruster-driven Autonomous Underwater Vehicles
Levi Cai, Kevin Chang, Yogesh Girdhar
Controlling AUVs can be challenging because of the effect of complex non-linear hydrodynamic forces acting on the robot, which are significant in water and cannot be ignored. The p…
ReefGlider: A highly maneuverable vectored buoyancy engine based underwater robot
Kevin Macauley, Levi Cai, Peter Adamczyk +1
There exists a capability gap in the design of currently available autonomous underwater vehicles (AUV). Most AUVs use a set of thrusters, and optionally control surfaces, to contr…