Benjamin Schwendinger

Maximilian Haug, Christian Stippel, Lukas Pscherer et al.

Ensuring human safety is of paramount importance in warehouse environments that feature mixed traffic of human workers and autonomous mobile robots (AMRs). Current approaches often treat humans as generic dynamic obstacles, leading to conservative AMR behaviors like slowing down or detouring, even when workers are fully aware and capable of safely sharing space. This paper presents a real-time vision-based method to estimate human awareness of an AMR using a single RGB camera. We integrate state-of-the-art 3D human pose lifting with head orientation estimation to ascertain a human's position relative to the AMR and their viewing cone, thereby determining if the human is aware of the AMR. The entire pipeline is validated using synthetically generated data within NVIDIA Isaac Sim, a robust physics-accurate robotics simulation environment. Experimental results confirm that our system reliably detects human positions and their attention in real time, enabling AMRs to safely adapt their motion based on human awareness. This enhancement is crucial for improving both safety and operational efficiency in industrial and factory automation settings.

Benjamin Schwendinger, Florian Schwendinger, Laura Vana

Holistic linear regression extends the classical best subset selection problem by adding additional constraints designed to improve the model quality. These constraints include sparsity-inducing constraints, sign-coherence constraints and linear constraints. The $\textsf{R}$ package $\texttt{holiglm}$ provides functionality to model and fit holistic generalized linear models. By making use of state-of-the-art conic mixed-integer solvers, the package can reliably solve GLMs for Gaussian, binomial and Poisson responses with a multitude of holistic constraints. The high-level interface simplifies the constraint specification and can be used as a drop-in replacement for the $\texttt{stats::glm()}$ function.

Benjamin Schwendinger, Florian Schwendinger, Laura Vana-Gür

In this paper, we show how mixed-integer conic optimization can be used to combine feature subset selection with holistic generalized linear models to fully automate the model selection process. Concretely, we directly optimize for the Akaike and Bayesian information criteria while imposing constraints designed to deal with multicollinearity in the feature selection task. Specifically, we propose a novel pairwise correlation constraint that combines the sign coherence constraint with ideas from classical statistical models like Ridge regression and the OSCAR model.