TOWARDS EFFICIENT OCEANIC ROBOT LEARNING WITH SIMULATION

Abstract

In this dissertation, I explore the intersection of machine learning, perception, and simulation-based techniques to enhance the efficiency of underwater robotics, with a focus on oceanic tasks. My research begins with marine object detection using aerial imagery. From there, I address oyster detection using Oysternet, which leverages simulated data and Generative Adversarial Networks for sim-to-real transfer, significantly improving detection accuracy. Next, I present an oyster detection system that integrates diffusion-enhanced synthetic data with the Aqua2 biomimetic hexapedal robot, enabling real-time, on-edge detection in underwater environments. With detection models deployed locally, this system facilitates autonomous exploration. To enhance this capability, I introduce an underwater navigation framework that employs imitation learning, enabling the robot to efficiently navigate over objects of interest, such as rock and oyster reefs, without relying on localization. This approach improves information gathering while ensuring obstacle avoidance. Given that oyster habitats are often in shallow waters, I incorporate a deep learning model for real/virtual image segmentation, allowing the robot to differentiate between actual objects and water surface reflections, ensuring safe navigation. I expand on broader applications of these techniques, including olive detection for yield estimation and industrial object counting for warehouse management, using simulated imagery. In the final chapters, I address unresolved challenges, such as RGB/sonar data integration, and propose directions for future research to enhance underwater robotic learning through digital simulation further. Through these studies, I demonstrate how machine learning models and digital simulations can be used synergistically to address key challenges in underwater robotic tasks. Ultimately, this work advances the capabilities of autonomous systems to monitor and preserve marine ecosystems through efficient and robust digital simulation-based learning.