Forum:KB:The origins of the Imperial Navy Troopers

The Imperial Navy Troopers are presumed to exist under both Star Wars brands-both the Star Wars Legends brand representing the old Expanded Universe and the current Star Wars Canon that has been in place since 2014.

How did they originate? They are separate from the Imperial Army Stormtroopers. That's for sure.

Did they descend from the Galactic Republic's Judicial Forces?