Figure 6.

Trajectories on the hydrofoil after training on a low speed surrogate model actor. (a) Reward function during the epochs of training on fluid-hydrofoil simulations and (b) reward while executing the optimal policy tracking velocities and heading angle starting from rest. (c) Trajectories in the reduced velocity space due to the optimal policy of an actor trained on just the surrogate model and (d) produced by the optimal policy by an actor trained on additional fluid-hydrofoil simulation. (e) Velocity tracking by the hydrofoil for two tracking velocities and (f) simultaneously tracking 0° heading angle. Color legend—tracking speed $u_t=0.8$ blue , $u_t=1.5$ black and $u_t=2.5$ red.