By combining differentiable rendering with explicit point-based scene representations, 3D
Gaussian Splatting (3DGS) has demonstrated breakthrough 3D reconstruction capabilities …

Underwater ROVs (Remotely Operated Vehicles) are unmanned submersible vehicles
designed for exploring and operating in the depths of the ocean. Despite using high-end …

Tasks such as autonomous navigation, 3D reconstruction, and object recognition near the
water surfaces are crucial in marine robotics applications. However, challenges arise due to …

This paper explores the design and development of a language-based interface for dynamic
mission programming of autonomous underwater vehicles (AUVs). The …

We introduce the idea of AquaFuse, a physics-based method for synthesizing waterbody
properties in underwater imagery. We formulate a closed-form solution for waterbody fusion …

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 …