A DRL controller for ASV floating waste capture, trained in simulation with a perception abstraction module, achieves centimeter-level accuracy in real-world field experiments across 14 disturbance regimes.
Crossing the reality gap: A survey on sim-to-real transferability of robot controllers in reinforcement learning
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Sim-to-Real Transfer and Robustness Evaluation of Reinforcement Learning Control with Integrated Perception on an ASV for Floating Waste Capture
A DRL controller for ASV floating waste capture, trained in simulation with a perception abstraction module, achieves centimeter-level accuracy in real-world field experiments across 14 disturbance regimes.