Physical Residual Distillation for AUV Reinforcement Learning Control
Hybrid Stonefish-MuJoCo simulation and residual hydrodynamics distillation for AUV control.
| **Dec. 2025 - Mar. 2026 | Philadelphia, PA** |
Developed a hybrid simulation workflow for autonomous underwater vehicle control that couples rigid-body dynamics with a learned residual hydrodynamics model.
Highlights
- Connected Stonefish and MuJoCo to combine high-fidelity underwater simulation with efficient rigid-body simulation.
- Distilled residual hydrodynamic effects into a learned model for use during reinforcement learning control.
- Used the resulting simulation pipeline to support stable AUV control experiments.