publications

2026

1. ICMA

   

   Deep Hydro-Sim: Structured Residual Hydrodynamics for the RL-Based AUV Control

   Ruihan Wu, Chunying Li, Qirong Lei, and 3 more authors

   In 2026 IEEE International Conference on Mechatronics and Automation (ICMA), 2026

   Abs Bib PDF Code

   Deep Hydro-Sim bridges a high-fidelity underwater simulator and a fast rigid-body engine by learning residual hydrodynamic forces from Stonefish and injecting them into MuJoCo as a real-time plugin. The result improves open-loop replay fidelity and stabilizes downstream SAC training for AUV control without sacrificing throughput.

   @inproceedings{wu2026deepsim,
     title = {Deep Hydro-Sim: Structured Residual Hydrodynamics for the RL-Based AUV Control},
     author = {Wu, Ruihan and Li, Chunying and Lei, Qirong and Huang, Le and Li, Pengcheng and Guo, Shuxiang},
     booktitle = {2026 IEEE International Conference on Mechatronics and Automation (ICMA)},
     year = {2026},
   }