{"id":"https://openalex.org/W4415317811","doi":"https://doi.org/10.1016/j.oceaneng.2026.125579","title":"Falsification-driven reinforcement learning for maritime motion planning","display_name":"Falsification-driven reinforcement learning for maritime motion planning","publication_year":2026,"publication_date":"2026-05-20","ids":{"openalex":"https://openalex.org/W4415317811","doi":"https://doi.org/10.1016/j.oceaneng.2026.125579"},"language":"en","primary_location":{"id":"doi:10.1016/j.oceaneng.2026.125579","doi":"https://doi.org/10.1016/j.oceaneng.2026.125579","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.oceaneng.2026.125579","pdf_url":null,"source":{"id":"https://openalex.org/S76910236","display_name":"Ocean Engineering","issn_l":"0029-8018","issn":["0029-8018","1873-5258"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Ocean Engineering","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1016/j.oceaneng.2026.125579","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071223507","display_name":"Marlon M\u00fcller","orcid":"https://orcid.org/0009-0008-7689-0069","observed_orcids":["https://orcid.org/0009-0008-7689-0069"]},"institutions":[{"id":"https://openalex.org/I4403386549","display_name":"Munich Center for Machine Learning","ror":"https://ror.org/02nfy3535","country_code":"DE","type":"education","lineage":["https://openalex.org/I4403386549","https://openalex.org/I62916508","https://openalex.org/I8204097"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["DE","US"],"is_corresponding":true,"raw_author_name":"Marlon M\u00fcller","raw_affiliation_strings":["Munich Center for Machine Learning (MCML), Germany","Technical University of Munich, Germany","University of California, Berkeley, USA"],"raw_orcid":"https://orcid.org/0009-0008-7689-0069","affiliations":[{"raw_affiliation_string":"Munich Center for Machine Learning (MCML), Germany","institution_ids":["https://openalex.org/I4403386549"]},{"raw_affiliation_string":"Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093917828","display_name":"Florian Finkeldei","orcid":"https://orcid.org/0000-0001-9518-7856","observed_orcids":["https://orcid.org/0000-0001-9518-7856"]},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Florian Finkeldei","raw_affiliation_strings":["Technical University of Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-9518-7856","affiliations":[{"raw_affiliation_string":"Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065905965","display_name":"Hanna Krasowski","orcid":"https://orcid.org/0000-0002-6730-3802","observed_orcids":["https://orcid.org/0000-0002-6730-3802"]},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hanna Krasowski","raw_affiliation_strings":["University of California, Berkeley, USA"],"raw_orcid":"https://orcid.org/0000-0002-6730-3802","affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025743742","display_name":"Murat Arcak","orcid":"https://orcid.org/0000-0001-9060-4032","observed_orcids":["https://orcid.org/0000-0001-9060-4032"]},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Murat Arcak","raw_affiliation_strings":["University of California, Berkeley, USA"],"raw_orcid":"https://orcid.org/0000-0001-9060-4032","affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005383495","display_name":"Matthias Althoff","orcid":"https://orcid.org/0000-0003-3733-842X","observed_orcids":["https://orcid.org/0000-0003-3733-842X"]},"institutions":[{"id":"https://openalex.org/I4403386549","display_name":"Munich Center for Machine Learning","ror":"https://ror.org/02nfy3535","country_code":"DE","type":"education","lineage":["https://openalex.org/I4403386549","https://openalex.org/I62916508","https://openalex.org/I8204097"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Althoff","raw_affiliation_strings":["Munich Center for Machine Learning (MCML), Germany","Technical University of Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-3733-842X","affiliations":[{"raw_affiliation_string":"Munich Center for Machine Learning (MCML), Germany","institution_ids":["https://openalex.org/I4403386549"]},{"raw_affiliation_string":"Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5065905965","https://openalex.org/A5071223507","https://openalex.org/A5093917828"],"corresponding_institution_ids":["https://openalex.org/I4403386549","https://openalex.org/I62916508","https://openalex.org/I95457486"],"apc_list":{"value":4150,"currency":"USD","value_usd":4150},"apc_paid":{"value":4150,"currency":"USD","value_usd":4150},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00387028,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"361","issue":null,"first_page":"125579","last_page":"125579"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9648000001907349,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9648000001907349,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.021900000050663948,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.00430000014603138,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/autonomous-ships","display_name":"autonomous ships","score":0.9409999847412109},{"id":"https://openalex.org/keywords/signal-temporal-logic","display_name":"signal temporal logic","score":0.9350000023841858},{"id":"https://openalex.org/keywords/counterexample-generation","display_name":"counterexample generation","score":0.6779999732971191},{"id":"https://openalex.org/keywords/rule-compliance","display_name":"rule compliance","score":0.5519999861717224}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8115000128746033},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5541999936103821},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.5138000249862671},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5023999810218811},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.49799999594688416},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4081000089645386},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.39660000801086426},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3871000111103058},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34040001034736633},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.31700000166893005},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.31690001487731934},{"id":"https://openalex.org/C80519477","wikidata":"https://www.wikidata.org/wiki/Q3532236","display_name":"Scenario testing","level":3,"score":0.3034999966621399},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.29319998621940613},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.27059999108314514},{"id":"https://openalex.org/C2777552389","wikidata":"https://www.wikidata.org/wiki/Q1962728","display_name":"Course (navigation)","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.2624000012874603},{"id":"https://openalex.org/C2984003776","wikidata":"https://www.wikidata.org/wiki/Q6764307","display_name":"Marine safety","level":2,"score":0.2614000141620636},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.2590000033378601}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1016/j.oceaneng.2026.125579","doi":"https://doi.org/10.1016/j.oceaneng.2026.125579","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.oceaneng.2026.125579","pdf_url":null,"source":{"id":"https://openalex.org/S76910236","display_name":"Ocean Engineering","issn_l":"0029-8018","issn":["0029-8018","1873-5258"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Ocean Engineering","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2510.06970","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2510.06970","pdf_url":"https://arxiv.org/pdf/2510.06970","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2510.06970","doi":"https://doi.org/10.48550/arxiv.2510.06970","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2510.06970","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.1016/j.oceaneng.2026.125579","doi":"https://doi.org/10.1016/j.oceaneng.2026.125579","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.oceaneng.2026.125579","pdf_url":null,"source":{"id":"https://openalex.org/S76910236","display_name":"Ocean Engineering","issn_l":"0029-8018","issn":["0029-8018","1873-5258"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Ocean Engineering","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G2423332075","display_name":null,"funder_award_id":"SFB1608","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G2425358650","display_name":"Collaborative Research: CPS: Frontier: Computation-Aware Algorithmic Design for Cyber-Physical Systems","funder_award_id":"2111688","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3345822776","display_name":null,"funder_award_id":"AL 1185/17-1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G3506758798","display_name":null,"funder_award_id":"AL 1185/19-1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320324306","display_name":"Bayerische Akademie der Wissenschaften","ror":"https://ror.org/001rdaz60"},{"id":"https://openalex.org/F4320331433","display_name":"Bayerisches Staatsministerium f\u00fcr Wissenschaft und Kunst","ror":null},{"id":"https://openalex.org/F4320336863","display_name":"Leibniz-Rechenzentrum","ror":"https://ror.org/05558nw16"},{"id":"https://openalex.org/F5395805803","display_name":"Munich Center for Machine Learning","ror":"https://ror.org/02nfy3535"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391871279","https://openalex.org/W4210497309","https://openalex.org/W7165445556","https://openalex.org/W7221577341","https://openalex.org/W3208394855","https://openalex.org/W3194942489","https://openalex.org/W3131407417","https://openalex.org/W3173679721","https://openalex.org/W2998615302","https://openalex.org/W7017326868"],"abstract_inverted_index":{"Compliance":[0],"with":[1,94,127],"maritime":[2,47,78],"traffic":[3,79,124,136],"rules":[4,125],"is":[5,24,31,49,55],"essential":[6],"for":[7],"the":[8,34,44,73,99],"safe":[9],"operation":[10],"of":[11,28,46],"autonomous":[12],"vessels,":[13],"yet":[14],"training":[15,35,69,105],"reinforcement":[16],"learning":[17],"(RL)":[18],"agents":[19,30],"to":[20,22],"adhere":[21],"them":[23],"challenging.":[25],"The":[26],"behavior":[27],"RL":[29,64,134],"shaped":[32],"by":[33],"scenarios":[36,41,70,106],"they":[37],"encounter,":[38],"but":[39],"creating":[40],"that":[42,66,98],"capture":[43],"complexity":[45],"navigation":[48,93],"non-trivial,":[50],"and":[51,107],"real-world":[52],"data":[53],"alone":[54],"insufficient.":[56],"To":[57],"address":[58],"this,":[59],"we":[60],"propose":[61],"a":[62],"falsification-driven":[63,115],"approach":[65,101],"generates":[67],"adversarial":[68],"in":[71],"which":[72,81],"vessel":[74],"under":[75],"test":[76],"violates":[77],"rules,":[80],"are":[82],"expressed":[83],"as":[84],"signal":[85],"temporal":[86,119,128],"logic":[87,120,129],"specifications.":[88],"Our":[89],"experiments":[90],"on":[91],"open-sea":[92],"two":[95],"vessels":[96],"demonstrate":[97],"proposed":[100],"provides":[102],"more":[103,109],"relevant":[104],"achieves":[108],"consistent":[110],"rule":[111,137],"compliance.":[112,138],"\u2022":[113,122,132],"Efficient":[114],"RL:":[116],"counterexamples":[117],"from":[118],"rules.":[121],"Maritime":[123],"extended":[126],"robustness":[130],"measures.":[131],"Falsification-driven":[133],"improves":[135]},"counts_by_year":[],"updated_date":"2026-10-27T15:51:10.671819","created_date":"2025-10-18T00:00:00"}