🌊 OceanGym 🦾

A Benchmark Environment for Underwater Embodied Agents

🌐 Home Page 📄 ArXiv Paper 🤗 Hugging Face ☁️ Google Drive ☁️ Baidu Drive

OceanGym is a high-fidelity embodied underwater environment that simulates a realistic ocean setting with diverse scenes. As illustrated in figure, OceanGym establishes a robust benchmark for evaluating autonomous agents through a series of challenging tasks, encompassing various perception analyses and decision-making navigation. The platform facilitates these evaluations by supporting multi-modal perception and providing action spaces for continuous control.

💐 Acknowledgement

OceanGym environment is built upon Unreal Engine (UE) 5.3, with certain components developed by drawing inspiration from and partially based on HoloOcean. We sincerely acknowledge their valuable contribution.

🔔 News

• 10-2025, we released the initial version of OceanGym along with the accompanying paper.
• 04-2025, we launched the OceanGym project.

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Contents:

• 💐 Acknowledgement
• 🔔 News
• 📺 Quick Start
  • Decision Task
  • Perception Task
• ⚙️ Set up Environment
  • Clone HoloOcean
  • Packaged Installation
  • Add World Files
  • Open the World
• 🧠 Decision Task
  • Target Object Locations
  • Evaluation Criteria
• 👀 Perception Task
  • Using the Bench to Eval
    • Import Data
    • Set your Model Parameters
    • Simple Multi-views
    • Multi-views with Sonar
    • Multi-views add Sonar Examples
  • Collecting Image Data
    • Modify Configuration File
    • Collect Camera Images Only
    • Collect Camera and Sonar Images
• ⏱️ Results
  • Decision Task
  • Perception Task
• 📚 Datasets
• 🚩 Citation

📺 Quick Start

Install the experimental code environment using pip:

pip install -r requirements.txt

Decision Task

Only the environment is ready! Build the environment based on here.

Step 1: Run a Task Script

For example, to run task 4:

python decision\tasks\task4.py

Follow the keyboard instructions or switch to LLM mode for automatic decision-making.

Step 2: Keyboard Control Guide

Key	Action
W	Move Forward
S	Move Backward
A	Move Left
D	Move Right
J	Turn Left
L	Turn Right
I	Move Up
K	Move Down
M	Switch to LLM Mode
Q	Exit

You can use WASD for movement, J/L for turning, I/K for up/down. Press M to switch to large language model mode (may cause temporary lag). Press Q to exit.

Step 3: View Results

Logs and memory files are automatically saved in the log/ and memory/ directories.

Step 4: Evaluate the results

Place the generated memory and important_memory files into the corresponding point folders. Then, set the evaluation paths in the evaluate.py file.

We provide 6 experimental evaluation paths. In evaluate.py, you can configure them as follows:

eval_roots = [
    os.path.join(eval_root, "main", "gpt4omini"),
    os.path.join(eval_root, "main", "gemini"),
    os.path.join(eval_root, "main", "qwen"),
    os.path.join(eval_root, "migration", "gpt4o"),
    os.path.join(eval_root, "migration", "qwen"),
    os.path.join(eval_root, "scale", "qwen"),
]

To run the evaluation:

python decision\utils\evaluate.py

The generated results will be saved under the \eval\decision folder.

Perception Task

All commands are applicable to Linux, so if you using Windows, you need to change the corresponding path representation (especially the slash).

Step 1: Prepare the dataset

After downloading from Hugging Face or Google Drive, put it into the data/perception folder.

Step 2: Select model parameters

parameter	function
model_template	The large language model message queue template you selected.
model_name_or_path	If it is an API model, it is the model name; if it is a local model, it is the path.
api_key	If it is an API model, enter your key.
base_url	If it is an API model, enter its baseful URL.

Now we only support OpenAI, Google Gemma, Qwen and OpenBMB.

MODELS_TEMPLATE="Yours"
MODEL_NAME_OR_PATH="Yours"
API_KEY="Yours"
BASE_URL="Yours"

Step 3: Run the experiments

parameter	function
exp_name	Customize the name of the experiment to save the results.
exp_idx	Select the experiment number, or enter "all" to select all.
exp_json	JSON file containing the experiment label data.
images_dir	The folder where the experimental image data is stored.

For the experimental types, We designed (1) multi-view perception task and (2) context-based perception task.

For the lighting conditions, We designed (1) high illumination and (2) low illumination.

For the auxiliary sonar, We designed (1) without sonar image (2) zero-shot sonar image and (3) sonar image with few sonar example.

Such as this command is used to evaluate the multi-view perception task under high illumination:

python perception/eval/mv.py \
    --exp_name Result_MV_highLight_00 \
    --exp_idx "all" \
    --exp_json "/data/perception/highLight.json" \
    --images_dir "/data/perception/highLight" \
    --model_template $MODELS_TEMPLATE \
    --model_name_or_path $MODEL_NAME_OR_PATH \
    --api_key $API_KEY \
    --base_url $BASE_URL

For more patterns about perception tasks, please read this part carefully.

⚙️ Set up Environment

This project is based on the HoloOcean environment. 💐

We have placed a simplified version here. If you encounter any detailed issues, please refer to the original installation document.

Install the OceanGym_large.zip

From ☁️ Google Drive ☁️ Baidu Drive download the OceanGym_large.zip And extract it to the folder you want

Packaged Installation

1. Python Library

From the cloned repository, install the Python package by doing the following:

cd OceanGym_large/client
pip install .

2. Worlds Packages

Install the package by running the following Python commands:

import holoocean
holoocean.install("Ocean")

To do these steps in a single console command, use:

python -c "import holoocean; holoocean.install('Ocean')"

Add World Files

Place the JSON config file from asset/decision/map_config or asset\perception\map_config into some place like:

(Windows)

C:\Users\Windows\AppData\Local\holoocean\2.0.0\worlds\Ocean

Open the World

1. If you're use it in first time, you have to compile it

1-1. find the Holodeck.uproject in engine folder

1-2. Right-click and select:Generate Visual Studio project files

1-3. If the version is not 5.3.2,please choose the Switch Unreal Engine Version

1-4. Then open the project

2. Then find the HAIDI map in demo directory

3. Run the project

4. Run the code

When the ue editor shows as follows, namely: "LogD3D12RHI: Cannot end block when stack is empty" , it indicates that the scene has been loaded.

Then you can start the code, either directly using vscode

or by entering the following command in the command line

python decision\tasks\task4.py

🧠 Decision Task

All commands are applicable to Windows only, because it requires full support from the UE5 Engine.

The decision experiment can be run with reference to the Quick Start.

Target Object Locations

We have provided eight tasks. For specific task descriptions, please refer to the paper.

The following are the coordinates for each target object in the environment (in meters):

• MINING ROBOT: (-71, 149, -61), (325, -47, -83)
• OIL PIPELINE: (345, -165, -32), (539, -233, -42), (207, -30, -66)
• OIL DRUM: (447, -203, -98)
• SUNKEN SHIP: (429, -151, -69), (78, -11, -47)
• ELECTRICAL BOX: (168, 168, -65)
• WIND POWER STATION: (207, -30, -66)
• AIRCRAFT WRECKAGE: (40, -9, -54), (296, 78, -70), (292, -186, -67)
• H-MARKED LANDING PLATFORM: (267, 33, -80)

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Evaluation Criteria

1. If the target is not found, use the final stopping position for evaluation.
2. If the target is found, use the closest distance to any target point.
3. For found targets:
   • Minimum distance ≤ 30: full score
   • 30 < distance < 100: score decreases proportionally
   • Distance ≥ 100: score is 0
4. Score composition:
   • One point: 100
   • Two points: 60 / 40
   • Three points: 60 / 20 / 20

👀 Perception Task

Using the Bench to Eval

All commands are applicable to Linux, so if you using Windows, you need to change the corresponding path representation (especially the slash).

Now we only support OpenAI, Google Gemma, Qwen and OpenBMB. If you need to customize the model, please contact the author.

Import Data

First, you need download our data from Hugging Face or Google Drive.

And then create a new data folder in the project root directory:

mkdir -p data/perception

Finally, put the downloaded data into the corresponding folder.

Set your Model Parameters

Just open a terminal in the root directory and set it directly.

parameter	function
model_template	The large language model message queue template you selected.
model_name_or_path	If it is an API model, it is the model name; if it is a local model, it is the path.
api_key	If it is an API model, enter your key.
base_url	If it is an API model, enter its baseful URL.

MODELS_TEMPLATE="Yours"
MODEL_NAME_OR_PATH="Yours"
API_KEY="Yours"
BASE_URL="Yours"

Simple Multi-views

All of these scripts evaluate the perception task, and the parameters are as follows:

parameter	function
exp_name	Customize the name of the experiment to save the results.
exp_idx	Select the experiment number, or enter "all" to select all.
exp_json	JSON file containing the experiment label data.
images_dir	The folder where the experimental image data is stored.

This command is used to evaluate the multi-view perception task under high illumination:

python perception/eval/mv.py \
    --exp_name Result_MV_highLight_00 \
    --exp_idx "all" \
    --exp_json "/data/perception/highLight.json" \
    --images_dir "/data/perception/highLight" \
    --model_template $MODELS_TEMPLATE \
    --model_name_or_path $MODEL_NAME_OR_PATH \
    --api_key $API_KEY \
    --base_url $BASE_URL

This command is used to evaluate the context-based perception task under high illumination:

python perception/eval/mv.py \
    --exp_name Result_MV_highLightContext_00 \
    --exp_idx "all" \
    --exp_json "/data/perception/highLightContext.json" \
    --images_dir "/data/perception/highLightContext" \
    --model_template $MODELS_TEMPLATE \
    --model_name_or_path $MODEL_NAME_OR_PATH \
    --api_key $API_KEY \
    --base_url $BASE_URL

This command is used to evaluate the multi-view perception task under low illumination:

python perception/eval/mv.py \
    --exp_name Result_MV_lowLight_00 \
    --exp_idx "all" \
    --exp_json "/data/perception/lowLight.json" \
    --images_dir "/data/perception/lowLight" \
    --model_template $MODELS_TEMPLATE \
    --model_name_or_path $MODEL_NAME_OR_PATH \
    --api_key $API_KEY \
    --base_url $BASE_URL

This command is used to evaluate the context-based perception task under low illumination:

python perception/eval/mv.py \
    --exp_name Result_MV_lowLightContext_00 \
    --exp_idx "all" \
    --exp_json "/data/perception/lowLightContext.json" \
    --images_dir "/data/perception/lowLightContext" \
    --model_template $MODELS_TEMPLATE \
    --model_name_or_path $MODEL_NAME_OR_PATH \
    --api_key $API_KEY \
    --base_url $BASE_URL

Multi-views with Sonar

This command is used to evaluate the multi-view perception task under high illumination with sonar image:

python perception/eval/mvs.py \
    --exp_name Result_MVwS_highLight_00 \
    --exp_idx "all" \
    --exp_json "/data/perception/highLight.json" \
    --images_dir "/data/perception/highLight" \
    --model_template $MODELS_TEMPLATE \
    --model_name_or_path $MODEL_NAME_OR_PATH \
    --api_key $API_KEY \
    --base_url $BASE_URL

This command is used to evaluate the context-based perception task under high illumination with sonar image:

python perception/eval/mvs.py \
    --exp_name Result_MVwS_highLightContext_00 \
    --exp_idx "all" \
    --exp_json "/data/perception/highLightContext.json" \
    --images_dir "/data/perception/highLightContext" \
    --model_template $MODELS_TEMPLATE \
    --model_name_or_path $MODEL_NAME_OR_PATH \
    --api_key $API_KEY \
    --base_url $BASE_URL

This command is used to evaluate the multi-view perception task under low illumination with sonar image:

python perception/eval/mvs.py \
    --exp_name Result_MVwS_lowLight_00 \
    --exp_idx "all" \
    --exp_json "/data/perception/lowLight.json" \
    --images_dir "/data/perception/lowLight" \
    --model_template $MODELS_TEMPLATE \
    --model_name_or_path $MODEL_NAME_OR_PATH \
    --api_key $API_KEY \
    --base_url $BASE_URL

This command is used to evaluate the context-based perception task under low illumination with sonar image:

python perception/eval/mvs.py \
    --exp_name Result_MVwS_lowLightContext_00 \
    --exp_idx "all" \
    --exp_json "/data/perception/lowLightContext.json" \
    --images_dir "/data/perception/lowLightContext" \
    --model_template $MODELS_TEMPLATE \
    --model_name_or_path $MODEL_NAME_OR_PATH \
    --api_key $API_KEY \
    --base_url $BASE_URL

Multi-views add Sonar Examples

This command is used to evaluate the multi-view perception task under high illumination with sona image examples:

python perception/eval/mvsex.py \
    --exp_name Result_MVwSss_highLight_00 \
    --exp_idx "all" \
    --exp_json "/data/perception/highLight.json" \
    --images_dir "/data/perception/highLight" \
    --model_template $MODELS_TEMPLATE \
    --model_name_or_path $MODEL_NAME_OR_PATH \
    --api_key $API_KEY \
    --base_url $BASE_URL

This command is used to evaluate the context-based perception task under high illumination with sona image examples:

python perception/eval/mvsex.py \
    --exp_name Result_MVwSss_highLightContext_00 \
    --exp_idx "all" \
    --exp_json "/data/perception/highLightContext.json" \
    --images_dir "/data/perception/highLightContext" \
    --model_template $MODELS_TEMPLATE \
    --model_name_or_path $MODEL_NAME_OR_PATH \
    --api_key $API_KEY \
    --base_url $BASE_URL

This command is used to evaluate the multi-view perception task under low illumination with sona image examples:

python perception/eval/mvsex.py \
    --exp_name Result_MVwSss_lowLight_00 \
    --exp_idx "all" \
    --exp_json "/data/perception/lowLight.json" \
    --images_dir "/data/perception/lowLight" \
    --model_template $MODELS_TEMPLATE \
    --model_name_or_path $MODEL_NAME_OR_PATH \
    --api_key $API_KEY \
    --base_url $BASE_URL

This command is used to evaluate the context-based perception task under low illumination with sona image examples:

python perception/eval/mvsex.py \
    --exp_name Result_MVwSss_lowLightContext_00 \
    --exp_idx "all" \
    --exp_json "/data/perception/lowLightContext.json" \
    --images_dir "/data/perception/lowLightContext" \
    --model_template $MODELS_TEMPLATE \
    --model_name_or_path $MODEL_NAME_OR_PATH \
    --api_key $API_KEY \
    --base_url $BASE_URL

Collecting Image Data

This part is optional. Only use when you need to collect pictures by yourself.

Modify Configuration File

The sample configuration files can be found in asset/perception/map_config. You need to copy this and paste it into your HoloOcean project's configuration.

Collect Camera Images Only

This command is used to collect camera images only, and the parameters are as follows:

parameter	function
scenario	The name of the json configuration file you want to replace.
task_name	Customize the name of the experiment to save the results.
rgbcamera	The camera directions you can choose. If select all, enter "all".

python perception/task/init_map.py \
    --scenario without_sonar \
    --task_name "Exp_Camera_Only" \
    --rgbcamera "all"

Collect Camera and Sonar Images

This command is used to collect both camera images and sonar images at same time:

python perception/task/init_map_with_sonar.py \
    --scenario with_sonar \
    --task_name "Exp_Add_Sonar" \
    --rgbcamera "FrontCamera"

⏱️ Results

We provide the trajectory data of OceanGym’s various task evaluations at the next section, enabling readers to analyze and reproduce the results.

Decision Task

• This table is the performance in decision tasks requiring autonomous completion by MLLM-driven agents.

Perception Task

• This table is the performance of perception tasks across different models and conditions.
• Values represent accuracy percentages.
• Adding sonar means using both RGB and sonar images.

📚 DataSets

The link to the dataset is as follows
☁️ Google Drive

• Decision Task

decision_dataset
├── main
│ ├── gpt4omini
│ │ ├── task1
│ │ │ ├── point1
│ │ │ │ ├── llm_output_...log
│ │ │ │ ├── memory_...json
│ │ │ │ └── important_memory_...json
│ │ │ └── ... (other data points like point2, point3...)
│ │ └── ... (other tasks like task2, task3...)
│ ├── gemini
│ │ └── ... (structure is the same as gpt4omini)
│ └── qwen
│ └── ... (structure is the same as gpt4omini)
│
├── migration
│ ├── gpt4o
│ │ └── ... (structure is the same as above)
│ └── qwen
│ └── ... (structure is the same as above)
│
└── scale
  ├── qwen
  └── gpt4omini

How to use this dataset

In the main folder, you can see the data generated by the three models corresponding to the three folders. Within each model folder, there are task1-12 task folders, and within the task folders, there are point1-3 folders, representing the results generated from different starting points. Among them, point1 and point2 are fixed starting points, which are respectively [144 ,-114,-63] and [350 ,-118 -7] and point3 is a random point
In the scale experiment, Point1-4 represent different task durations, with point1 being 1 hour, point2 1.5 hours, point3 2 hours, and point4 3 hours. Note that the actual duration may vary to some extent due to the influence of large model calls, network fluctuations, and other factors
If you want to evaluate the files generated by yourself, please place the corresponding memory_{time_stamp}.json and important_memory_{time_stamp}.json files in the corresponding folders

• Perception Task

perception_dataset
├── data
│ ├── highLight
│ ├── highLightContext
│ ├── lowLight
│ ├── lowLightContext
│ └── ... (label files)
│
└── result
└── ... (detail result fils)

How to use this dataset

In the main folder, data is the test data of perception task, result is the detail results of this table.

Below the folder data, there are 4 folders and 4 JSON files. Each folder contains test data for each perception task, and each JSON file is the label of its corresponding folder.

🔧 Develop OceanGym

OceanGym supports custom scenarios. You can freely exert yourself in the scenarios we provide!
You can find the assets you need in the ue5 fab Mall and add them to OceanGym to test the exploration ability of the robot!
Or modify parameters such as terrain and lighting to simulate the weather in different scenarios!

Modify lighting

Step 1: Find the DirectionalLight in outliner

Step 2: Choose the details of DirectionalLight

Step 3: Modify the data of light as per your requirements

Notice
In our paper, we simulate low-light and high-light environments, where the Intensity of light is 10.0lux in the high-light environment Intensity of light is 1.5lux in a low-light environment

Modify start position

Step 1: Find the initial config file OceanGym.json in

C:\Users\Windows\AppData\Local\holoocean\2.0.0\worlds\Ocean

Step 2: Modify the data of location as per your requirements

If you want to develop more functions, you can visit the official website of holoocean

🚩 Citation

If this OceanGym paper or benchmark is helpful, please kindly cite as this:

@misc{xue2025oceangymbenchmarkenvironmentunderwater,
      title={OceanGym: A Benchmark Environment for Underwater Embodied Agents}, 
      author={Yida Xue and Mingjun Mao and Xiangyuan Ru and Yuqi Zhu and Baochang Ren and Shuofei Qiao and Mengru Wang and Shumin Deng and Xinyu An and Ningyu Zhang and Ying Chen and Huajun Chen},
      year={2025},
      eprint={2509.26536},
      archivePrefix={arXiv},
      primaryClass={cs.CL},
      url={https://arxiv.org/abs/2509.26536}, 
}

💐 Thanks again!