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…