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Underwater robotic surveys can be costly due to the complex workingenvironment and the need for various sensor modalities. While underwatersimulators are essential, many existing simulators lack sufficient renderingquality, restricting their ability to transfer algorithms from simulation toreal-world applications. To address this limitation, we introduce UNav-Sim,which, to the best of our knowledge, is the first simulator to incorporate theefficient, high-detail rendering of Unreal Engine 5 (UE5). UNav-Sim isopen-source and includes an autonomous vision-based navigation stack. Bysupporting standard robotics tools like ROS, UNav-Sim enables researchers todevelop and test algorithms for underwater environments efficiently.

UNav-Sim: A Visually Realistic Underwater Robotics Simulator and Synthetic Data-generation Framework