{"id":"https://openalex.org/W4410949751","doi":"https://doi.org/10.1109/lra.2025.3575650","title":"Swim4Real: Deep Reinforcement Learning-Based Energy-Efficient and Agile 6-DOF Control for Underwater Vehicles","display_name":"Swim4Real: Deep Reinforcement Learning-Based Energy-Efficient and Agile 6-DOF Control for Underwater Vehicles","publication_year":2025,"publication_date":"2025-06-02","ids":{"openalex":"https://openalex.org/W4410949751","doi":"https://doi.org/10.1109/lra.2025.3575650"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3575650","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3575650","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2025.3575650","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5117798875","display_name":"Vicente Suf\u00e1n","orcid":null},"institutions":[{"id":"https://openalex.org/I162148367","display_name":"Pontificia Universidad Cat\u00f3lica de Chile","ror":"https://ror.org/04teye511","country_code":"CL","type":"education","lineage":["https://openalex.org/I162148367"]}],"countries":["CL"],"is_corresponding":true,"raw_author_name":"Vicente Suf\u00e1n","raw_affiliation_strings":["Department of Mechanical and Metallurgical Engineering, Pontificia Universidad Cat&#x00F3;lica de Chile, Santiago, Chile"],"raw_orcid":"https://orcid.org/0009-0005-4909-2457","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Metallurgical Engineering, Pontificia Universidad Cat&#x00F3;lica de Chile, Santiago, Chile","institution_ids":["https://openalex.org/I162148367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063518200","display_name":"Giancarlo Troni","orcid":"https://orcid.org/0000-0002-1517-8739"},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Giancarlo Troni","raw_affiliation_strings":["Monterey Bay Aquarium Research Institute, Moss Landing, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1517-8739","affiliations":[{"raw_affiliation_string":"Monterey Bay Aquarium Research Institute, Moss Landing, CA, USA","institution_ids":["https://openalex.org/I1319261023"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5117798875"],"corresponding_institution_ids":["https://openalex.org/I162148367"],"apc_list":null,"apc_paid":null,"fwci":6.5198,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.96132143,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"10","issue":"7","first_page":"7326","last_page":"7333"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14011","display_name":"Elevator Systems and Control","score":0.979200005531311,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.817912757396698},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7627859711647034},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.7323352098464966},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5447183847427368},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49297332763671875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39985811710357666},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3210788369178772},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.15578693151474},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.08732259273529053},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.05171138048171997}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.817912757396698},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7627859711647034},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.7323352098464966},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5447183847427368},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49297332763671875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39985811710357666},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3210788369178772},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.15578693151474},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.08732259273529053},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.05171138048171997}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3575650","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3575650","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2025.3575650","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3575650","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1833024299","https://openalex.org/W2074070730","https://openalex.org/W2508852782","https://openalex.org/W2605102758","https://openalex.org/W2808470116","https://openalex.org/W2969569485","https://openalex.org/W2980107516","https://openalex.org/W3142509408","https://openalex.org/W3156519493","https://openalex.org/W3158004083","https://openalex.org/W3216772467","https://openalex.org/W4206032480","https://openalex.org/W4214717370","https://openalex.org/W4238404964","https://openalex.org/W4291824939","https://openalex.org/W4294719418","https://openalex.org/W4308159282","https://openalex.org/W4318474594","https://openalex.org/W4379382588","https://openalex.org/W4383108294","https://openalex.org/W4389544120","https://openalex.org/W4390295949","https://openalex.org/W4393058646","https://openalex.org/W4395050721","https://openalex.org/W4399934642","https://openalex.org/W4402328880","https://openalex.org/W4402409305","https://openalex.org/W4402812077","https://openalex.org/W4403818517","https://openalex.org/W4404375555","https://openalex.org/W4404738510","https://openalex.org/W6776730770","https://openalex.org/W6804601995","https://openalex.org/W6873042264"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W2656997359","https://openalex.org/W1999583034","https://openalex.org/W4306904969","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2953138830","https://openalex.org/W2773822314","https://openalex.org/W3176162126","https://openalex.org/W2891537746"],"abstract_inverted_index":{"Unmanned":[0],"underwater":[1,15,194],"vehicles":[2],"(UUVs)":[3],"require":[4],"precise":[5,90],"and":[6,82,103,134,140,145],"energy-efficient":[7],"six-degrees-of-freedom":[8],"(6-DOF)":[9],"control":[10,58,92],"to":[11,56,100,149,172,193,200],"operate":[12],"in":[13,130,190],"complex":[14,43],"environments":[16],"for":[17,89,128],"long":[18],"periods":[19],"of":[20,67,93,132],"time.":[21],"Traditional":[22],"controllers,":[23],"like":[24],"Proportional-Integral-":[25],"Derivative":[26],"(PID),":[27],"struggle":[28],"with":[29],"nonlinear":[30,69],"dynamics,":[31],"while":[32,95,154],"Model":[33],"Predictive":[34],"Control":[35],"depends":[36],"on":[37,50],"accurate":[38],"models,":[39],"which":[40,109],"are":[41],"often":[42],"or":[44],"unavailable.":[45],"Deep":[46],"Reinforcement":[47],"Learning":[48],"(DRL),":[49],"the":[51,80,173],"other":[52],"hand,":[53],"enables":[54],"controllers":[55,127,167],"learn":[57],"strategies":[59],"through":[60],"environmental":[61],"interactions,":[62],"using":[63],"neural":[64],"networks":[65],"capable":[66],"capturing":[68],"relationships.":[70],"In":[71],"this":[72],"work,":[73],"we":[74,105,118],"introduce":[75],"an":[76],"end-to-end":[77],"DRL-based":[78,125],"controller,":[79],"Robust":[81],"Energy":[83],"Efficient":[84],"Framework":[85],"(REEF)":[86],"DRL,":[87,108],"designed":[88],"6-DOF":[91,126],"UUVs":[94,129],"minimizing":[96],"energy":[97,135,156,178],"consumption.":[98],"Furthermore,":[99,137],"improve":[101],"robustness":[102],"adaptability,":[104],"propose":[106],"REEF-DR":[107,141],"incorporates":[110],"domain":[111],"randomization.":[112],"Through":[113],"a":[114,150,187,197],"comprehensive":[115],"simulationbased":[116],"evaluation,":[117],"demonstrate":[119],"that":[120,165],"our":[121,166],"approach":[122],"outperforms":[123],"state-of-the-art":[124],"terms":[131],"accuracy":[133,147],"efficiency.":[136],"REEF":[138],"DRL":[139,142,192],"achieve":[143],"position":[144],"orientation":[146],"comparable":[148,171],"well-tuned":[151,174],"PID":[152,175],"controller":[153],"reducing":[155],"consumption":[157,179],"by":[158,180],"at":[159,181],"least":[160,182],"30%.":[161],"In-water":[162],"experiments":[163],"show":[164],"maintain":[168],"high":[169],"performance":[170],"but":[176],"reduce":[177],"39%.":[183],"This":[184],"work":[185],"represents":[186],"significant":[188],"advancement":[189],"applying":[191],"robotics,":[195],"offering":[196],"promising":[198],"solution":[199],"extend":[201],"UUV":[202],"operational":[203],"autonomy.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
