Simon Schäfer

Simon Schäfer, Lucas Hegerath, Marius Molz et al.

Infrastructure-based localization enhances road safety and traffic management by providing state estimates of road users. Development is hindered by fragmented, application-specific stacks that tightly couple perception, tracking, and middleware. We introduce Ufil, a Unified Framework for Infrastructure-Based Localization with a standardized object model and reusable multi-object tracking components. Ufil offers interfaces and reference implementations for prediction, detection, association, state update, and track management, allowing researchers to improve components without reimplementing the pipeline. Ufil is open-source C++/ROS 2 software with documentation and executable examples. We demonstrate Ufil by integrating three heterogeneous data sources into a single localization pipeline combining (i) vehicle onboard units broadcasting ETSI ITS-G5 Cooperative Awareness Messages, (ii) a lidar-based roadside sensor node, and (iii) an in-road sensitive surface layer. The pipeline runs unchanged in the CARLA simulator and a small-scale CAV testbed, demonstrating Ufil's scale-independent execution model. In a three-lane highway scenario with 423 and 355 vehicles in simulation and testbed, respectively, the fused system achieves lane-level lateral accuracy with mean lateral position RMSEs of 0.31 m in CARLA and 0.29 m in the CPM Lab, and mean absolute orientation errors around 2.2°. Median end-to-end latencies from sensing to fused output remain below 100 ms across all modalities in both environments.

Julius Beerwerth, Jianye Xu, Simon Schäfer et al.

We present a reproducible benchmark for evaluating sim-to-real transfer of Multi-Agent Reinforcement Learning (MARL) policies for Connected and Automated Vehicles (CAVs). The platform, based on the Cyber-Physical Mobility Lab (CPM Lab) [1], integrates simulation, a high-fidelity digital twin, and a physical testbed, enabling structured zero-shot evaluation of MARL motion-planning policies. We demonstrate its use by deploying a SigmaRL-trained policy [2] across all three domains, revealing two complementary sources of performance degradation: architectural differences between simulation and hardware control stacks, and the sim-to-real gap induced by increasing environmental realism. The open-source setup enables systematic analysis of sim-to-real challenges in MARL under realistic, reproducible conditions.

Richard Koebe, Noah Saibel, Juan Miguel Lopez Alcaraz et al.

Hypotension in critically ill ICU patients is common and life-threatening. Escalation to catecholamine therapy marks a key management step, with both undertreatment and overtreatment posing risks. Most machine learning (ML) models predict hypotension using fixed MAP thresholds or MAP forecasting, overlooking the clinical decision behind treatment escalation. Predicting catecholamine initiation, the start of vasoactive or inotropic agent administration offers a more clinically actionable target reflecting real decision-making. Using the MIMIC-III database, we modeled catecholamine initiation as a binary event within a 15-minute prediction window. Input features included statistical descriptors from a two-hour sliding MAP context window, along with demographics, biometrics, comorbidities, and ongoing treatments. An Extreme Gradient Boosting (XGBoost) model was trained and interpreted via SHapley Additive exPlanations (SHAP). The model achieved an AUROC of 0.822 (0.813-0.830), outperforming the hypotension baseline (MAP < 65, AUROC 0.686 [0.675-0.699]). SHAP analysis highlighted recent MAP values, MAP trends, and ongoing treatments (e.g., sedatives, electrolytes) as dominant predictors. Subgroup analysis showed higher performance in males, younger patients (<53 years), those with higher BMI (>32), and patients without comorbidities or concurrent medications. Predicting catecholamine initiation based on MAP dynamics, treatment context, and patient characteristics supports the critical decision of when to escalate therapy, shifting focus from threshold-based alarms to actionable decision support. This approach is feasible across a broad ICU cohort under natural event imbalance. Future work should enrich temporal and physiological context, extend label definitions to include therapy escalation, and benchmark against existing hypotension prediction systems.