OceanSim: A GPU-Accelerated Underwater Robot Perception Simulation Framework

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OceanSim is a high-fidelity underwater simulation framework designed to accelerate the development of robust underwater perception solutions. Leveraging GPU-accelerated rendering and advanced physics-based techniques, OceanSim accurately models both visual and acoustic sensors, significantly reducing the simulation-to-real gap.

Key Features

• GPU Acceleration:
  Achieve real-time rendering and fast synthetic data generation with advanced GPU techniques.

• Advanced Physics-Based Rendering:
  Model underwater sensor behavior with high fidelity to closely mimic real-world conditions.

• Integration with NVIDIA Ecosystem:
  Built as an extension to NVIDIA Isaac Sim and compatible with the NVIDIA Omniverse ecosystem, bridging robot learning with underwater robotics.

• Collaborative Open Source:
  Designed to foster community contributions and collaborative development.
  Code Release: The beta version of OceanSim will be released in March 2025.

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  Subscribe through our subscription form to receive the latest news and updates on OceanSim.

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Getting Involved

OceanSim is designed to be a collaborative platform:

• Contribute:
  Once the code is released in March 2025, contributions from the research community will be highly welcomed.

• Follow the Development:
  Stay tuned on our website and subscribe to our newsletter for the latest updates and announcements.

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Credits & Acknowledgements

OceanSim is a joint effort by:

• Jingyu Song
• Haoyu Ma
• Onur Bagoren
• Advaith V. Sethuraman
• Yiting Zhang
• Katherine A. Skinner

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OceanSim - A GPU-Accelerated Underwater Robot Perception Simulation Framework