{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/evaluating-robustness-of-deep-reinforcement","title":"Evaluating Robustness of Deep Reinforcement Learning for Autonomous Surface Vehicle Control in Field Tests","arxiv_id":"2505.10033","date":"2025-05-15","proceeding":null,"authors":["Luis F. W. Batista","Stéphanie Aravecchia","Seth Hutchinson","Cédric Pradalier"],"abstract":"Despite significant advancements in Deep Reinforcement Learning (DRL) for Autonomous Surface Vehicles (ASVs), their robustness in real-world conditions, particularly under external disturbances, remains insufficiently explored. In this paper, we evaluate the resilience of a DRL-based agent designed to capture floating waste under various perturbations. We train the agent using domain randomization and evaluate its performance in real-world field tests, assessing its ability to handle unexpected disturbances such as asymmetric drag and an off-center payload. We assess the agent's performance under these perturbations in both simulation and real-world experiments, quantifying performance degradation and benchmarking it against an MPC baseline. Results indicate that the DRL agent performs reliably despite significant disturbances. Along with the open-source release of our implementation, we provide insights into effective training strategies, real-world challenges, and practical considerations for deploying DRLbased ASV controllers.","url_abs":"https://arxiv.org/abs/2505.10033v2","url_pdf":"https://arxiv.org/pdf/2505.10033v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"evaluating-robustness-of-deep-reinforcement","repo_url":"https://github.com/luisfelipewb/RL4WasteCapture","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"benchmarking","task_name":"Benchmarking"},{"task_slug":"deep-reinforcement-learning","task_name":"Deep Reinforcement Learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}