Abstract
Recent advances in vision-language-action models have stimulated growing interest in underwater embodied intelligence. However, their reliance on large-scale interaction data limits their applicability underwater, where data collection is costly and scarce. To address this challenge, we present AquaCap, a training-free Code-as-Policy framework for autonomous underwater navigation and manipulation. AquaCap employs a dual-layer agent that translates task instructions and environmental observations into condition-aware plans and executable control programs. Structured perception then provides the agent with semantic, geometric, and reliability-aware observations under degraded underwater conditions. A failure-aware memory diagnoses unsuccessful actions and supports closed-loop replanning and code revision. This design enables online adaptation without task-specific training or parameter updates. AquaCap achieves a 66.43% success rate in simulation. Real-world experiments further demonstrate autonomous grasping and object transport with an ROV, including the manipulation of targets displaced by hydrodynamic disturbances.
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Publication details
- Journal
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- Open access
- Green open access
Cite this article
APA 7
Li, X., Xu, Y., Kong, C., Zhou, Y., Liu, Y., Yang, H., Huang, Z., & Shan, Y. (2026). AquaCap: A Training-Free Underwater Embodied Agent with Code-as-Policy. https://omanscience.com/en/articles/aquacap-a-training-free-underwater-embodied-agent-with-code-as-policy
MLA 9
Li, Xiaoshi, et al. "AquaCap: A Training-Free Underwater Embodied Agent with Code-as-Policy." https://omanscience.com/en/articles/aquacap-a-training-free-underwater-embodied-agent-with-code-as-policy.
Chicago (author–date)
Li, Xiaoshi, Yule Xu, Chunghiu Kong, Yizhou Zhou, Yang Liu, Hao Yang, Zihao Huang, and Yunxiao Shan. 2026. "AquaCap: A Training-Free Underwater Embodied Agent with Code-as-Policy." https://omanscience.com/en/articles/aquacap-a-training-free-underwater-embodied-agent-with-code-as-policy.
Harvard
Li, X., Xu, Y., Kong, C., Zhou, Y., Liu, Y., Yang, H., Huang, Z. and Shan, Y. (2026) 'AquaCap: A Training-Free Underwater Embodied Agent with Code-as-Policy', Available at: https://omanscience.com/en/articles/aquacap-a-training-free-underwater-embodied-agent-with-code-as-policy.
Vancouver
Li X, Xu Y, Kong C, Zhou Y, Liu Y, Yang H, et al. AquaCap: A Training-Free Underwater Embodied Agent with Code-as-Policy. https://omanscience.com/en/articles/aquacap-a-training-free-underwater-embodied-agent-with-code-as-policy
IEEE
X. Li, Y. Xu, C. Kong, Y. Zhou, Y. Liu, H. Yang, Z. Huang, and Y. Shan, "AquaCap: A Training-Free Underwater Embodied Agent with Code-as-Policy," https://omanscience.com/en/articles/aquacap-a-training-free-underwater-embodied-agent-with-code-as-policy.