{"id":"https://openalex.org/W7154510783","doi":"https://doi.org/10.48550/arxiv.2604.12645","title":"Contextual Multi-Task Reinforcement Learning for Autonomous Reef Monitoring","display_name":"Contextual Multi-Task Reinforcement Learning for Autonomous Reef Monitoring","publication_year":2026,"publication_date":"2026-04-14","ids":{"openalex":"https://openalex.org/W7154510783","doi":"https://doi.org/10.48550/arxiv.2604.12645"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.12645","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.12645","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.12645","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025962742","display_name":"Melvin Laux","orcid":"https://orcid.org/0000-0003-3517-7386"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Laux, Melvin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100604033","display_name":"Yiling Liu","orcid":"https://orcid.org/0000-0002-0387-8973"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yi-Ling","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133693997","display_name":"Rina Alo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alo, Rina","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133652627","display_name":"S\u00f6ren T\u00f6pper","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"T\u00f6pper, S\u00f6ren","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042862102","display_name":"Mariela De Lucas \u00c1lvarez","orcid":"https://orcid.org/0000-0003-0846-4507"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alvarez, Mariela De Lucas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133631019","display_name":"Frank Kirchner","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kirchner, Frank","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5125127197","display_name":"Rebecca Adam","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Adam, Rebecca","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6000000238418579,"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":0.6000000238418579,"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/T12611","display_name":"Neural Networks and Reservoir Computing","score":0.09709999710321426,"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":0.06289999932050705,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8485999703407288},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5087000131607056},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.49639999866485596},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4327000081539154},{"id":"https://openalex.org/keywords/reef","display_name":"Reef","score":0.4269999861717224},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.36629998683929443},{"id":"https://openalex.org/keywords/overfitting","display_name":"Overfitting","score":0.36309999227523804}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8485999703407288},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5827999711036682},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5087000131607056},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.49639999866485596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.475600004196167},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4327000081539154},{"id":"https://openalex.org/C77044568","wikidata":"https://www.wikidata.org/wiki/Q184358","display_name":"Reef","level":2,"score":0.4269999861717224},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36800000071525574},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.36629998683929443},{"id":"https://openalex.org/C22019652","wikidata":"https://www.wikidata.org/wiki/Q331309","display_name":"Overfitting","level":3,"score":0.36309999227523804},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33379998803138733},{"id":"https://openalex.org/C199190896","wikidata":"https://www.wikidata.org/wiki/Q3509276","display_name":"Learning classifier system","level":3,"score":0.28850001096725464},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.28610000014305115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2847999930381775},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.2721000015735626},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.271699994802475},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.257099986076355},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.2554999887943268},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.2547999918460846}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.12645","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.12645","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.12645","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.12645","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Although":[0],"autonomous":[1,120,197],"underwater":[2,27,121],"vehicles":[3,21],"promise":[4],"the":[5,17,57,62,66,152,177,183],"capability":[6],"of":[7,19,65,185],"marine":[8],"ecosystem":[9],"monitoring,":[10],"their":[11],"deployment":[12],"is":[13,131],"fundamentally":[14],"limited":[15],"by":[16],"difficulty":[18],"controlling":[20],"under":[22],"highly":[23],"uncertain":[24],"and":[25,45,99,115,162],"non-stationary":[26],"dynamics.":[28],"To":[29],"address":[30],"these":[31],"challenges,":[32],"we":[33,70,149,173],"employ":[34],"a":[35,53,74,126,140,190],"data-driven":[36],"reinforcement":[37,50,77,109,171],"learning":[38,51,78,110],"approach":[39],"to":[40,55,72,83,133,159,164,175,188],"compensate":[41],"for":[42,90,119],"unknown":[43],"dynamics":[44],"task":[46],"variations.":[47],"Traditional":[48],"single-task":[49],"has":[52],"tendency":[54],"overfit":[56],"training":[58,178],"environment,":[59],"thus,":[60],"limit":[61],"long-term":[63],"usefulness":[64],"learnt":[67,186],"policy.":[68],"Hence,":[69],"propose":[71],"use":[73],"contextual":[75,107,153],"multi-task":[76,108,170],"paradigm":[79],"instead,":[80],"allowing":[81],"us":[82],"learn":[84,113],"controllers":[85],"that":[86,130],"can":[87,111],"be":[88],"reused":[89],"various":[91],"tasks,":[92,161],"e.g.,":[93],"detecting":[94,100],"oysters":[95],"in":[96,102,139,144,196],"one":[97],"reef":[98,122,142,198],"corals":[101],"another.":[103],"We":[104,124],"evaluate":[105,151],"whether":[106],"efficiently":[112],"robust":[114],"generalisable":[116],"control":[117],"policies":[118,154,187],"monitoring.":[123,199],"train":[125],"single":[127],"context-dependent":[128],"policy":[129],"able":[132],"solve":[134],"multiple":[135],"related":[136],"monitoring":[137],"tasks":[138],"simulated":[141],"environment":[143],"HoloOcean.":[145],"In":[146],"our":[147],"experiments,":[148],"empirically":[150],"regarding":[155],"sample-efficiency,":[156],"zero-shot":[157],"generalisation":[158],"unseen":[160],"robustness":[163],"varying":[165],"water":[166],"currents.":[167],"By":[168],"utilising":[169],"learning,":[172],"aim":[174],"improve":[176],"effectiveness,":[179],"as":[180,182],"well":[181],"reusability":[184],"take":[189],"step":[191],"towards":[192],"more":[193],"sustainable":[194],"procedures":[195]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-16T00:00:00"}