EasyUUV: An LLM-Enhanced Universal and Lightweight Sim-to-Real Reinforcement Learning Framework for UUV Attitude Control
EasyUUV:一种用于UUV姿态控制的LLM增强通用轻量级仿真到现实强化学习框架
机构 * Tsinghua Shenzhen International Graduate School, Tsinghua University(清华大学深圳国际研究生院,清华大学) ; Department of Mechanical Engineering, The University of Hong Kong(香港大学机械工程系) ; Department of Data and Systems Engineering, The University of Hong Kong(香港大学数据与系统工程系) ; School of Civil Engineering, Southwest Jiaotong University(西南交通大学土木工程学院) ; School of Information and Software Engineering, University of Electronic Science and Technology of China(电子科技大学信息与软件工程学院) ; Department of Data Science, New Jersey Institute of Technology(新泽西理工学院数据科学系) ; Ocean College, Zhejiang University(浙江大学海洋学院)
AI总结 提出EasyUUV框架,结合并行强化学习与混合控制架构,并集成多模态大语言模型自适应调整参数,实现UUV姿态控制的鲁棒性和泛化性,经仿真与实船验证。
Comments 12 pages, 14 figures