Welcome to HoloOcean’s documentation!


HoloOcean is a realistic underwater robotics simulator with multi-agent missions, various underwater sensors including a novel imaging sonar sensor implementation, easy installation, and simple use. It’s a fork of Holodeck, a high-fidelity reinforcement learning simulator built on Unreal Engine 4.

If you use HoloOcean in your research, please cite our conference publication with the following bibtex:

   author = {E. Potokar and S. Ashford and M. Kaess and J. Mangelson},
   title = {Holo{O}cean: An Underwater Robotics Simulator},
   booktitle = {Proc. IEEE Intl. Conf. on Robotics and Automation, ICRA},
   address = {Philadelphia, PA, USA},
   month = may,
   year = {2022}

API Documentation

Indices and tables