Offline Target-Domain Trajectories for Cross-Domain AUV Dynamics Calibration and Policy Transfer
Description
This dataset contains 50 task-independent target-domain trajectories collected from a physics-based three-dimensional, six-degree-of-freedom autonomous underwater vehicle hydrodynamics simulator. Each trajectory contains 300 control transitions and records the AUV pose, body velocity, actual actuator states, internal controller states, and normalized control commands. A rule-based multi-stage probing controller excites propulsion, horizontal turning, depth motion, and coupled actuator transients without using downstream task labels or rewards. Trajectory-specific ocean currents are sampled independently and remain fixed within each trajectory. Deterministic nested subsets containing 10, 30, and 50 trajectories are provided for evaluating offline dynamics-calibration methods under different data budgets. The package includes field definitions, units, collection and preprocessing protocols, target-domain parameters, random seeds, and experiment configurations.
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Institutions
- University of Chinese Academy of SciencesBeijing, Beijing