Autonomous vehicles (AV) offer a cost-effective solution for scientific missions such as underwater tracking. Recently, reinforcement learning (RL) has emerged as a powerful method for controlling AVs in complex marine environments. However, scaling these techniques to a fleet--essential for multi-target tracking or targets with rapid, unpredictable motion--presents significant computational challenges. Multi-Agent Reinforcement Learning (MARL) is notoriously sample-inefficient, and while high-fidelity simulators like Gazebo's LRAUV provide 100x faster-than-real-time single-robot simulations, they offer no significant speedup for multi-vehicle scenarios, making MARL training impractical. To address these limitations, we propose an iterative distillation method that transfers high-fidelity simulations into a simplified, GPU-accelerated environment while preserving high-level dynamics. This approach achieves up to a 30,000x speedup over Gazebo through parallelization, enabling efficient training via end-to-end GPU acceleration. Additionally, we introduce a novel Transformer-based architecture (TransfMAPPO) that learns multi-agent policies invariant to the number of agents and targets, significantly improving sample efficiency. Following large-scale curriculum learning conducted entirely on GPU, we perform extensive evaluations in Gazebo, demonstrating that our method maintains tracking errors below 5 meters over extended durations, even in the presence of multiple fast-moving targets. This work bridges the gap between large-scale MARL training and high-fidelity deployment, providing a scalable framework for autonomous fleet control in real-world sea missions.

Accurate ocean forecasting is essential for supporting a wide range of marine applications. Recent advances in artificial intelligence have highlighted the potential of data-driven models to outperform traditional numerical approaches, particularly in atmospheric weather forecasting. However, extending these methods to ocean systems remains challenging due to their inherently slower dynamics and complex boundary conditions. In this work, we present MedFormer, a fully data-driven deep learning model specifically designed for medium-range ocean forecasting in the Mediterranean Sea. MedFormer is based on a U-Net architecture augmented with 3D attention mechanisms and operates at a high horizontal resolution of 1/24°. The model is trained on 20 years of daily ocean reanalysis data and fine-tuned with high-resolution operational analyses. It generates 9-day forecasts using an autoregressive strategy. The model leverages both historical ocean states and atmospheric forcings, making it well-suited for operational use. We benchmark MedFormer against the state-of-the-art Mediterranean Forecasting System (MedFS), developed at Euro-Mediterranean Center on Climate Change (CMCC), using both analysis data and independent observations. The forecast skills, evaluated with the Root Mean Squared Difference and the Anomaly Correlation Coefficient, indicate that MedFormer consistently outperforms MedFS across key 3D ocean variables. These findings underscore the potential of data-driven approaches like MedFormer to complement, or even surpass, traditional numerical ocean forecasting systems in both accuracy and computational efficiency.

The Strait of Gibraltar is a region characterized by intricate oceanic sub-mesoscale features, influenced by topography, tidal forces, instabilities, and nonlinear hydraulic processes, all governed by the nonlinear equations of fluid motion. In this study, we aim to uncover the underlying physics of these phenomena within 3D MIT general circulation model simulations, including waves, eddies, and gyres. To achieve this, we employ Dynamic Mode Decomposition (DMD) to break down simulation snapshots into Koopman modes, with distinct exponential growth/decay rates and oscillation frequencies. Our objectives encompass evaluating DMD's efficacy in capturing known features, unveiling new elements, ranking modes, and exploring order reduction. We also introduce modifications to enhance DMD's robustness, numerical accuracy, and robustness of eigenvalues. DMD analysis yields a comprehensive understanding of flow patterns, internal wave formation, and the dynamics of the Strait of Gibraltar, its meandering behaviors, and the formation of a secondary gyre, notably the Western Alboran Gyre, as well as the propagation of Kelvin and coastal-trapped waves along the African coast. In doing so, it significantly advances our comprehension of intricate oceanographic phenomena and underscores the immense utility of DMD as an analytical tool for such complex datasets, suggesting that DMD could serve as a valuable addition to the toolkit of oceanographers.