In this research we combine of probabilistic ocean modeling and control approaches such as reachability with machine learning for optimal path-planning algorithms in strong uncertain dynamic fields. Research tasks include: (1) Realistic Data-driven Ocean and Platform Modeling and Simulation; (2) Optimal Path Planning with High-Dimensional Reachability, Plan Adaptation and Learning; (3) Learning a Final Value Function for long-term Anticipation and Deep Reinforcement Learning Algorithms.