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Sim2Sea: Sim-to-Real Policy Transfer for Maritime Vessel Navigation in Congested Waters
arXiv – CS AI|Xinyu Cui, Xuanfa Jin, Xue Yan, Yongcheng Zeng, Luoyang Sun, Siying Wei, Ruizhi Zhang, Jian Zhao, Haifeng Zhang, Jun Wang|
🤖AI Summary
Researchers have developed Sim2Sea, a comprehensive framework that successfully bridges the simulation-to-reality gap for autonomous maritime vessel navigation in congested waters. The system uses GPU-accelerated parallel simulation, dual-stream spatiotemporal policy, and targeted domain randomization to achieve zero-shot transfer from simulation to real-world deployment on a 17-ton unmanned vessel.
Key Takeaways
- →Sim2Sea framework addresses the critical sim-to-real gap problem in autonomous maritime navigation through advanced simulation and policy design.
- →The system incorporates a GPU-accelerated parallel simulator for scalable and accurate maritime scenario modeling.
- →A dual-stream spatiotemporal policy with velocity-obstacle-guided action masking ensures safe exploration in complex maritime environments.
- →The framework achieved successful zero-shot transfer from simulation to real-world deployment on a 17-ton unmanned vessel.
- →Results demonstrate faster convergence and safer trajectories compared to established baseline methods.
#autonomous-navigation#maritime-ai#sim-to-real#robotics#reinforcement-learning#unmanned-vessels#computer-vision#simulation#gpu-acceleration#safety-systems
Read Original →via arXiv – CS AI
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