# AAM-SEALS: Developing Aerial-Aquatic Manipulators in SEa, Air, and Land Simulator

arXiv: https://arxiv.org/abs/2412.19744 · HTML: https://mlsanity.com/paper/2412.19744/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 Dec 2024.

## Built on by (most cited first, 1 of 1)

- [MarineGym: A High-Performance Reinforcement Learning Platform for Underwater Robotics](https://mlsanity.com/paper/2503.09203/) (2025)

## Abstract (arXiv)

Current mobile manipulators and high-fidelity simulators lack the ability to seamlessly operate and simulate across integrated environments spanning sea, air, and land. To address this gap, we introduce Aerial-Aquatic Manipulators (AAMs) in SEa, Air, and Land Simulator (SEALS), a comprehensive and photorealistic simulator designed for AAMs to operate and learn in these diverse environments. The development of AAM-SEALS tackles several significant challenges, including the creation of integrated controllers for flying, swimming, and manipulation, and the high-fidelity simulation of aerial dynamics and hydrodynamics leveraging particle-based hydrodynamics. Our evaluation demonstrates smooth operation and photorealistic transitions across air, water, and their interfaces. We quantitatively validate the fidelity of particle-based hydrodynamics by comparing position-tracking errors across real-world and simulated systems. AAM-SEALS benefits a broad range of robotics communities, including robot learning, aerial robotics, underwater robotics, mobile manipulation, and robotic simulators. We will open-source our code and data to foster the advancement of research in these fields. The overview video is available at https://youtu.be/MbqIIrYvR78. Visit our project website at https://aam-seals.umd.edu for more details.