Remotely operated vehicles (ROVs) are widely used in military and commercial applications such as mine countermeasures, search and salvage, offshore oil and gas production, and structural inspection. Due to the expense and logistics involved with operating actual vehicles, training and practice is often difficult to obtain in other than an "on the job" fashion. The Training for Remote Sensing and Manipulation (TRANSoM) program, sponsored by the Office of Naval Research, has developed and demonstrated a virtual environment (VE) based system for training ROV piloting skills. This system is a unique combination of an Intelligent Tutoring System (ITS) within a VE simulation which offers individualized instruction in a self-paced, guided-practice learning environment. It has been prototyped and tested extensively over the past three years. Verification and validation tests have demonstrated the fidelity of the simulation when compared to an actual ROV system. Transfer tests have demonstrated the system's training effectiveness, indicating that practice with the simulation based system yields comparable piloting performance to practice with the actual ROV. Skills learned under simulation were also transferable to other related tasks. System enhancements currently in process include development of a curriculum to teach situation awareness, development of mission planning and rehearsal tools, and porting to a PC-based platform.