6 papers
Intelligent Sailing Model for Open Sea Navigation
Hanna Krasowski, Stefan Schärdinger, Murat Arcak +1
Autonomous vessels potentially enhance safety and reliability of seaborne trade. To facilitate the development of autonomous vessels, simulations are required to model realistic in…
Falsification-driven reinforcement learning for maritime motion planning
Marlon Müller, Florian Finkeldei, Hanna Krasowski +2
Compliance with maritime traffic rules is essential for the safe operation of autonomous vessels, yet training reinforcement learning (RL) agents to adhere to them is challenging.…
Safe Reinforcement Learning using Action Projection: Safeguard the Policy or the Environment?
Hannah Markgraf, Shambhuraj Sawant, Hanna Krasowski +3
Projection-based safety filters, which modify unsafe actions by mapping them to the closest safe alternative, are widely used to enforce safety constraints in reinforcement learnin…
From Demonstrations to Safe Deployment: Path-Consistent Safety Filtering for Diffusion Policies
Ralf Römer, Julian Balletshofer, Jakob Thumm +3
Diffusion policies (DPs) achieve state-of-the-art performance on complex manipulation tasks by learning from large-scale demonstration datasets, often spanning multiple embodiments…
A General Safety Framework for Autonomous Manipulation in Human Environments
Jakob Thumm, Julian Balletshofer, Leonardo Maglanoc +2
Autonomous robots are projected to significantly augment the manual workforce, especially in repetitive and hazardous tasks. For a successful deployment of such robots in human env…
Trajectory Planning with Signal Temporal Logic Costs using Deterministic Path Integral Optimization
Patrick Halder, Hannes Homburger, Lothar Kiltz +2
Formulating the intended behavior of a dynamic system can be challenging. Signal temporal logic (STL) is frequently used for this purpose due to its suitability in formalizing comp…