arXiv subjects

Philipp Weiss

Publications and source records attributed to Philipp Weiss.

6 recordsLinked to original sources

arXiv2026

From stable online coupling to decade-long climate simulations: A machine learning parameterization for cloud microphysics in ICON

The representation of cloud microphysics and its nonlinear character and scale-dependence is a remaining source of uncertainty in Earth system models (ESMs). Here, we develop and couple online a machine learning (ML)-based cloud microphysics parameterization with the Icosahedral non-hydrostatic modeling framework (ICON). The primary challenge is achieving numerically stable, long-term online coupling when transitioning from training with km-scale data to application in coarse-scale simulations, where the coupled system encounters atmospheric states and feedbacks not seen during training. The training data is obtained from a global convection-permitting ICON simulation at 5 km resolution. The ML microphysics scheme uses a two-stage design: a classifier to identify active grid cells and a regressor to predict cloud microphysical tendencies. Physical constraints such as enforcing mass positivity and overshoot prevention prove essential for numerical stability in the coupled system. We demonstrate that achieving stable online coupling requires enforcing physical constraints and careful dataset curation, and that strong offline performance alone is insufficient. The coupled model maintains numerical stability over decade-long simulations with a performance in reproducing the observed climate comparable to the classical graupel scheme. The ML-based scheme eliminates two microphysics-specific tuning parameters of the classical graupel scheme, though systematic improvements in long-term mean-state biases are not yet realized. This study demonstrates that stable, decade-long climate simulations with an ML-based cloud microphysics scheme trained on convection-permitting data are feasible, providing a foundation for future hybrid ESMs.

physics.ao-ph↗

arXiv2026

The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy

We introduce and open-source the Unified Autonomy Stack, a system-level solution that enables resilient autonomy across diverse aerial and ground robot morphologies. The architecture centers on three synergistic modules -- multi-modal perception, multi-behavior planning, and multi-layered safe navigation -- that together deliver comprehensive mission autonomy. The stack fuses data from LiDAR, radar, vision, and inertial sensing, enabling (a) robust localization and mapping through factor graph-based fusion, (b) semantic scene understanding, (c) motion and informative path planning through sampling-based techniques adaptive across spatial scales, as well as (d) multi-layered safe navigation both through planning on the online reconstructed map and deep learning-driven exteroceptive policies alongside last-resort safety filters using control barrier functions. The resulting behaviors include safe GNSS-denied navigation into unknown and perceptually-degraded regions, exploration of complex environments, object discovery, and efficient inspection planning. The stack has been field-tested and validated on both aerial (rotorcraft) and ground (legged) robots operating in a host of demanding environments, including self-similar and smoke-filled settings, with complex geometries and high obstacle clutter. These tests demonstrate resilient performance in challenging conditions. To facilitate ease of adoption, we open-source the implementation alongside supporting documentation, validation, and evaluation datasets https://github.com/ntnu-arl/unified_autonomy_stack. A video giving the overview of the paper and the field experiments is available at https://youtu.be/l8Su8OXsM-E.

cs.RO↗

arXiv2026

Efficient Knowledge Transfer for Jump-Starting Control Policy Learning of Multirotors through Physics-Aware Neural Architectures

Efficiently training control policies for robots is a major challenge that can greatly benefit from utilizing knowledge gained from training similar systems through cross-embodiment knowledge transfer. In this work, we focus on accelerating policy training using a library-based initialization scheme that enables effective knowledge transfer across multirotor configurations. By leveraging a physics-aware neural control architecture that combines a reinforcement learning-based controller and a supervised control allocation network, we enable the reuse of previously trained policies. To this end, we utilize a policy evaluation-based similarity measure that identifies suitable policies for initialization from a library. We demonstrate that this measure correlates with the reduction in environment interactions needed to reach target performance and is therefore suited for initialization. Extensive simulation and real-world experiments confirm that our control architecture achieves state-of-the-art control performance, and that our initialization scheme saves on average up to $73.5\%$ of environment interactions (compared to training a policy from scratch) across diverse quadrotor and hexarotor designs, paving the way for efficient cross-embodiment transfer in reinforcement learning.

cs.RO↗

arXiv2025

Performance-guided Task-specific Optimization for Multirotor Design

This paper introduces a methodology for task-specific design optimization of multirotor Micro Aerial Vehicles. By leveraging reinforcement learning, Bayesian optimization, and covariance matrix adaptation evolution strategy, we optimize aerial robot designs guided exclusively by their closed-loop performance in a considered task. Our approach systematically explores the design space of motor pose configurations while ensuring manufacturability constraints and minimal aerodynamic interference. Results demonstrate that optimized designs achieve superior performance compared to conventional multirotor configurations in agile waypoint navigation tasks, including against fully actuated designs from the literature. We build and test one of the optimized designs in the real world to validate the sim2real transferability of our approach.

cs.RO↗

arXiv2025

UniPilot: Enabling GPS-Denied Autonomy Across Embodiments

This paper presents UniPilot, a compact hardware-software autonomy payload that can be integrated across diverse robot embodiments to enable autonomous operation in GPS-denied environments. The system integrates a multi-modal sensing suite including LiDAR, radar, vision, and inertial sensing for robust operation in conditions where uni-modal approaches may fail. UniPilot runs a complete autonomy software comprising multi-modal perception, exploration and inspection path planning, and learning-based navigation policies. The payload provides robust localization, mapping, planning, and safety and control capabilities in a single unit that can be deployed across a wide range of platforms. A large number of experiments are conducted across diverse environments and on a variety of robot platforms to validate the mapping, planning, and safe navigation capabilities enabled by the payload.

cs.RO↗

arXiv2023

Reliability Analysis of Gracefully Degrading Automotive Systems

Fail-operational systems are a prerequisite for autonomous driving. Without a driver who can act as a fallback solution in a critical failure scenario, the system has to be able to mitigate failures on its own and keep critical applications operational. To reduce redundancy cost, graceful degradation can be applied by repurposing hardware resources at run-time. Critical applications can be kept operational by starting passive backups and shutting down non-critical applications instead to make sufficient resources available. In order to design such systems efficiently, the degradation effects on reliability and cost savings have to be analyzed. In this paper we present our approach to formally analyze the impact of graceful degradation on the reliability of critical and non-critical applications. We then quantify the effect of graceful degradation on the reliability of both critical and non-critical applications in distributed automotive systems and compare the achieved cost reduction with conventional redundancy approaches. In our experiments redundancy overhead could be reduced by 80% compared to active redundancy in a scenario with a balanced mix of critical and non-critical applications using our graceful degradation approach Overall, we present a detailed reliability and cost analysis of graceful degradation in distributed automotive systems. Our findings confirm that using graceful degradation can tremendously reduce cost compared to conventional redundancy approaches with no negative impact on the redundancy of critical applications if a reliability reduction of non-critical applications can be accepted. Our results show that a trade-off between the impact of the degradation on the reliability of non-critical applications and cost reduction has to be made.

cs.DC↗