1 citations · 2 across the 10 of their papers we have counts for
10 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…
ReefMapGS: Enabling Large-Scale Underwater Reconstruction by Closing the Loop Between Multimodal SLAM and Gaussian Splatting
Daniel Yang, Jungseok Hong, John J. Leonard +1
3D Gaussian Splatting is a powerful visual representation, providing high-quality and efficient 3D scene reconstruction, but it is crucially dependent on accurate camera poses typi…
AMP2026: A Multi-Platform Marine Robotics Dataset for Tracking and Mapping
Edwin Meriaux, Shuo Wen, David Widhalm +11
Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and su…
Autonomous Search for Sparsely Distributed Visual Phenomena through Environmental Context Modeling
Eric Chen, Travis Manderson, Nare Karapetyan +3
Autonomous underwater vehicles (AUVs) are increasingly used to survey coral reefs, yet efficiently locating specific coral species of interest remains difficult: target species are…
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…
SeaSplat: Representing Underwater Scenes with 3D Gaussian Splatting and a Physically Grounded Image Formation Model
Daniel Yang, John J. Leonard, Yogesh Girdhar
We introduce SeaSplat, a method to enable real-time rendering of underwater scenes leveraging recent advances in 3D radiance fields. Underwater scenes are challenging visual enviro…
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…