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AquaCap: A Training-Free Underwater Embodied Agent with Code-as-Policy

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

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

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