Fig. 3: Trajectories of trained agents in physical and flow observation spaces.
From: Sensing flow gradients is necessary for learning autonomous underwater navigation
Trajectories are shown in black (geocentric) and blue (egocentric) for the same initial conditions and target location. A Geocentric and (B) egocentric agents, trained in CFD wake at Re = 400, learn to enter, slalom inside, and exit the wake. Agents trained in the reduced VS flow representation succeed when tested in (C, D) VS wake and (E, F) CFD wake (Supplementary Movies 1 and 2). Corresponding trajectories in the spaces of flow observations are shown in the right panels of (A, C, E) and (B, D, F) for the geocentric and egocentric agents, respectively. The three stages of navigation are marked using dark red for wake entry, dark blue for wake exit, black (geocentric), and light blue (egocentric) for slaloming inside the wake.
