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2020


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TUM Flyers: Vision-Based MAV Navigation for Systematic Inspection of Structures

Usenko, V., Stumberg, L. V., Stückler, J., Cremers, D.

In Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users: The Experience of the European Robotics Challenges, 136, pages: 189-209, Springer International Publishing, 2020 (inbook)

ev

[BibTex]

2020


[BibTex]


Differentiation of blackbox combinatorial solvers
Differentiation of blackbox combinatorial solvers

Vlastelica, M., Paulus, A., Musil, V., Martius, G., Rolı́nek, M.

In International Conference on Learning Representations, ICLR’20, 2020 (incollection)

al

link (url) [BibTex]

link (url) [BibTex]

2018


Nanoscale robotic agents in biological fluids and tissues
Nanoscale robotic agents in biological fluids and tissues

Palagi, S., Walker, D. Q. T., Fischer, P.

In The Encyclopedia of Medical Robotics, 2, pages: 19-42, 2, (Editors: Desai, J. P. and Ferreira, A.), World Scientific, October 2018 (inbook)

Abstract
Nanorobots are untethered structures of sub-micron size that can be controlled in a non-trivial way. Such nanoscale robotic agents are envisioned to revolutionize medicine by enabling minimally invasive diagnostic and therapeutic procedures. To be useful, nanorobots must be operated in complex biological fluids and tissues, which are often difficult to penetrate. In this chapter, we first discuss potential medical applications of motile nanorobots. We briefly present the challenges related to swimming at such small scales and we survey the rheological properties of some biological fluids and tissues. We then review recent experimental results in the development of nanorobots and in particular their design, fabrication, actuation, and propulsion in complex biological fluids and tissues. Recent work shows that their nanoscale dimension is a clear asset for operation in biological tissues, since many biological tissues consist of networks of macromolecules that prevent the passage of larger micron-scale structures, but contain dynamic pores through which nanorobots can move.

pf

link (url) DOI [BibTex]

2018


link (url) DOI [BibTex]


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Haptics and Haptic Interfaces

Kuchenbecker, K. J.

In Encyclopedia of Robotics, (Editors: Marcelo H. Ang and Oussama Khatib and Bruno Siciliano), Springer, May 2018 (incollection)

Abstract
Haptics is an interdisciplinary field that seeks to both understand and engineer touch-based interaction. Although a wide range of systems and applications are being investigated, haptics researchers often concentrate on perception and manipulation through the human hand. A haptic interface is a mechatronic system that modulates the physical interaction between a human and his or her tangible surroundings. Haptic interfaces typically involve mechanical, electrical, and computational layers that work together to sense user motions or forces, quickly process these inputs with other information, and physically respond by actuating elements of the user’s surroundings, thereby enabling him or her to act on and feel a remote and/or virtual environment.

hi

link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Maschinelles Lernen: Entwicklung ohne Grenzen?

Schökopf, B.

In Mit Optimismus in die Zukunft schauen. Künstliche Intelligenz - Chancen und Rahmenbedingungen, pages: 26-34, (Editors: Bender, G. and Herbrich, R. and Siebenhaar, K.), B&S Siebenhaar Verlag, 2018 (incollection)

ei

[BibTex]

[BibTex]


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Methods in Psychophysics

Wichmann, F. A., Jäkel, F.

In Stevens’ Handbook of Experimental Psychology and Cognitive Neuroscience, 5 (Methodology), 7, 4th, John Wiley & Sons, Inc., 2018 (inbook)

ei

[BibTex]

[BibTex]


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Transfer Learning for BCIs

Jayaram, V., Fiebig, K., Peters, J., Grosse-Wentrup, M.

In Brain–Computer Interfaces Handbook, pages: 425-442, 22, (Editors: Chang S. Nam, Anton Nijholt and Fabien Lotte), CRC Press, 2018 (incollection)

ei

Project Page [BibTex]

Project Page [BibTex]

2013


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A Review of Performance Variations in SMR-Based Brain–Computer Interfaces (BCIs)

Grosse-Wentrup, M., Schölkopf, B.

In Brain-Computer Interface Research, pages: 39-51, 4, SpringerBriefs in Electrical and Computer Engineering, (Editors: Guger, C., Allison, B. Z. and Edlinger, G.), Springer, 2013 (inbook)

ei

PDF DOI [BibTex]

2013


PDF DOI [BibTex]


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Semi-supervised learning in causal and anticausal settings

Schölkopf, B., Janzing, D., Peters, J., Sgouritsa, E., Zhang, K., Mooij, J.

In Empirical Inference, pages: 129-141, 13, Festschrift in Honor of Vladimir Vapnik, (Editors: Schölkopf, B., Luo, Z. and Vovk, V.), Springer, 2013 (inbook)

ei

DOI [BibTex]

DOI [BibTex]


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Tractable large-scale optimization in machine learning

Sra, S.

In Tractability: Practical Approaches to Hard Problems, pages: 202-230, 7, (Editors: Bordeaux, L., Hamadi , Y., Kohli, P. and Mateescu, R. ), Cambridge University Press , 2013 (inbook)

ei

[BibTex]

[BibTex]


Motor Control Adaptation to Changes in Robot Body Dynamics for a Compliant Quadruped Robot
Motor Control Adaptation to Changes in Robot Body Dynamics for a Compliant Quadruped Robot

Pouya, S., Eckert, P., Spröwitz, A., Moc̈kel, R., Ijspeert, A. J.

In Biomimetic and Biohybrid Systems, 8064, pages: 434-437, Lecture Notes in Computer Science, Springer, Heidelberg, 2013 (incollection)

Abstract
One of the major deficiencies of current robots in comparison to living beings is the ability to adapt to new conditions either resulting from environmental changes or their own dynamics. In this work we focus on situations where the robot experiences involuntary changes in its body particularly in its limbs’ inertia. Inspired from its biological counterparts we are interested in enabling the robot to adapt its motor control to the new system dynamics. To reach this goal, we propose two different control strategies and compare their performance when handling these modifications. Our results show substantial improvements in adaptivity to body changes when the robot is aware of its new dynamics and can exploit this knowledge in synthesising new motor control.

dlg

DOI [BibTex]

DOI [BibTex]


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NimbRo@Home: Winning Team of the RoboCup@Home Competition 2012

Stueckler, J., Badami, I., Droeschel, D., Gräve, K., Holz, D., McElhone, M., Nieuwenhuisen, M., Schreiber, M., Schwarz, M., Behnke, S.

In RoboCup 2012, Robot Soccer World Cup XVI, pages: 94-105, Springer, 2013 (inbook)

ev

link (url) DOI [BibTex]

link (url) DOI [BibTex]


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On the Relations and Differences between Popper Dimension, Exclusion Dimension and VC-Dimension

Seldin, Y., Schölkopf, B.

In Empirical Inference - Festschrift in Honor of Vladimir N. Vapnik, pages: 53-57, 6, (Editors: Schölkopf, B., Luo, Z. and Vovk, V.), Springer, 2013 (inbook)

ei

[BibTex]

[BibTex]


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Dynamics of nanodroplets on structured surfaces

Rauscher, M.

In Nanodroplets, 18, pages: 143-167, Lecture Notes in Nanoscale Science and Technology, Springer, New York, 2013 (incollection)

Abstract
Editors:Zhiming M. Wang

icm

DOI [BibTex]

DOI [BibTex]


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Wetting Phenomena on the Nanometer Scale

Rauscher, M., Dietrich, S., Napiórkowski, M.

In Nanoscale Liquid Interfaces - Wetting, Patterning and Force Microscopy at the Molecular Scale, pages: 83-154, Pan Stanford Publishing Pte. Ltd., Singapore, 2013 (incollection)

icm

DOI [BibTex]

DOI [BibTex]


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Using Torque Redundancy to Optimize Contact Forces in Legged Robots

Righetti, L., Buchli, J., Mistry, M., Kalakrishnan, M., Schaal, S.

In Redundancy in Robot Manipulators and Multi-Robot Systems, 57, pages: 35-51, Lecture Notes in Electrical Engineering, Springer Berlin Heidelberg, 2013 (incollection)

Abstract
The development of legged robots for complex environments requires controllers that guarantee both high tracking performance and compliance with the environment. More specifically the control of contact interaction with the environment is of crucial importance to ensure stable, robust and safe motions. In the following, we present an inverse dynamics controller that exploits torque redundancy to directly and explicitly minimize any combination of linear and quadratic costs in the contact constraints and in the commands. Such a result is particularly relevant for legged robots as it allows to use torque redundancy to directly optimize contact interactions. For example, given a desired locomotion behavior, it can guarantee the minimization of contact forces to reduce slipping on difficult terrains while ensuring high tracking performance of the desired motion. The proposed controller is very simple and computationally efficient, and most importantly it can greatly improve the performance of legged locomotion on difficult terrains as can be seen in the experimental results.

am mg

link (url) [BibTex]

link (url) [BibTex]


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Behavior as broken symmetry in embodied self-organizing robots

Der, R., Martius, G.

In Advances in Artificial Life, ECAL 2013, pages: 601-608, MIT Press, 2013 (incollection)

al

[BibTex]

[BibTex]


Modeling Shapes with Higher-Order Graphs: Theory and Applications
Modeling Shapes with Higher-Order Graphs: Theory and Applications

Wang, C., Zeng, Y., Samaras, D., Paragios, N.

In Shape Perception in Human and Computer Vision: An Interdisciplinary Perspective, (Editors: Zygmunt Pizlo and Sven Dickinson), Springer, 2013 (incollection)

ps

Publishers site [BibTex]

Publishers site [BibTex]


Class-Specific Hough Forests for Object Detection
Class-Specific Hough Forests for Object Detection

Gall, J., Lempitsky, V.

In Decision Forests for Computer Vision and Medical Image Analysis, pages: 143-157, 11, (Editors: Criminisi, A. and Shotton, J.), Springer, 2013 (incollection)

ps

code Project Page [BibTex]

code Project Page [BibTex]


Image Gradient Based Level Set Methods in 2D and 3D
Image Gradient Based Level Set Methods in 2D and 3D

Xianhua Xie, Si Yong Yeo, Majid Mirmehdi, Igor Sazonov, Perumal Nithiarasu

In Deformation Models: Tracking, Animation and Applications, pages: 101-120, 0, (Editors: Manuel González Hidalgo and Arnau Mir Torres and Javier Varona Gómez), Springer, 2013 (inbook)

Abstract
This chapter presents an image gradient based approach to perform 2D and 3D deformable model segmentation using level set. The 2D method uses an external force field that is based on magnetostatics and hypothesized magnetic interactions between the active contour and object boundaries. The major contribution of the method is that the interaction of its forces can greatly improve the active contour in capturing complex geometries and dealing with difficult initializations, weak edges and broken boundaries. This method is then generalized to 3D by reformulating its external force based on geometrical interactions between the relative geometries of the deformable model and the object boundary characterized by image gradient. The evolution of the deformable model is solved using the level set method so that topological changes are handled automatically. The relative geometrical configurations between the deformable model and the object boundaries contribute to a dynamic vector force field that changes accordingly as the deformable model evolves. The geometrically induced dynamic interaction force has been shown to greatly improve the deformable model performance in acquiring complex geometries and highly concave boundaries, and it gives the deformable model a high invariancy in initialization configurations. The voxel interactions across the whole image domain provide a global view of the object boundary representation, giving the external force a long attraction range. The bidirectionality of the external force field allows the new deformable model to deal with arbitrary cross-boundary initializations, and facilitates the handling of weak edges and broken boundaries.

ps

[BibTex]

[BibTex]

2012


Exploiting pedestrian interaction via global optimization and social behaviors
Exploiting pedestrian interaction via global optimization and social behaviors

Leal-Taixé, L., Pons-Moll, G., Rosenhahn, B.

In Theoretic Foundations of Computer Vision: Outdoor and Large-Scale Real-World Scene Analysis, Springer, April 2012 (incollection)

ps

pdf [BibTex]

2012


pdf [BibTex]


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Expectation-Maximization methods for solving (PO)MDPs and optimal control problems

Toussaint, M., Storkey, A., Harmeling, S.

In Inference and Learning in Dynamic Models, (Editors: Barber, D., Cemgil, A.T. and Chiappa, S.), Cambridge University Press, Cambridge, UK, January 2012 (inbook) In press

ei

PDF [BibTex]

PDF [BibTex]


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Active Learning Methods in Classification of Remote Sensing Images

Bruzzone, L., Persello, C., Demir, B.

In Signal and Image Processing for Remote Sensing, (Editors: CH Chen), CRC Press, Boca Raton, FL, USA, January 2012 (inbook) In press

ei

[BibTex]

[BibTex]


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Inferential structure determination from NMR data

Habeck, M.

In Bayesian methods in structural bioinformatics, pages: 287-312, (Editors: Hamelryck, T., Mardia, K. V. and Ferkinghoff-Borg, J.), Springer, New York, 2012 (inbook)

ei

[BibTex]

[BibTex]


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Robot Learning

Sigaud, O., Peters, J.

In Encyclopedia of the sciences of learning, (Editors: Seel, N.M.), Springer, Berlin, Germany, 2012 (inbook)

ei

Web [BibTex]

Web [BibTex]


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Reinforcement Learning in Robotics: A Survey

Kober, J., Peters, J.

In Reinforcement Learning, 12, pages: 579-610, (Editors: Wiering, M. and Otterlo, M.), Springer, Berlin, Germany, 2012 (inbook)

Abstract
As most action generation problems of autonomous robots can be phrased in terms of sequential decision problems, robotics offers a tremendously important and interesting application platform for reinforcement learning. Similarly, the real-world challenges of this domain pose a major real-world check for reinforcement learning. Hence, the interplay between both disciplines can be seen as promising as the one between physics and mathematics. Nevertheless, only a fraction of the scientists working on reinforcement learning are sufficiently tied to robotics to oversee most problems encountered in this context. Thus, we will bring the most important challenges faced by robot reinforcement learning to their attention. To achieve this goal, we will attempt to survey most work that has successfully applied reinforcement learning to behavior generation for real robots. We discuss how the presented successful approaches have been made tractable despite the complexity of the domain and will study how representations or the inclusion of prior knowledge can make a significant difference. As a result, a particular focus of our chapter lies on the choice between model-based and model-free as well as between value function-based and policy search methods. As a result, we obtain a fairly complete survey of robot reinforcement learning which should allow a general reinforcement learning researcher to understand this domain.

ei

Web DOI [BibTex]

Web DOI [BibTex]


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Higher-Order Tensors in Diffusion MRI

Schultz, T., Fuster, A., Ghosh, A., Deriche, R., Florack, L., Lim, L.

In Visualization and Processing of Tensors and Higher Order Descriptors for Multi-Valued Data, (Editors: Westin, C. F., Vilanova, A. and Burgeth, B.), Springer, 2012 (inbook) Accepted

ei

[BibTex]

[BibTex]


Data-driven Manifolds for Outdoor Motion Capture
Data-driven Manifolds for Outdoor Motion Capture

Pons-Moll, G., Leal-Taix’e, L., Gall, J., Rosenhahn, B.

In Outdoor and Large-Scale Real-World Scene Analysis, 7474, pages: 305-328, LNCS, (Editors: Dellaert, Frank and Frahm, Jan-Michael and Pollefeys, Marc and Rosenhahn, Bodo and Leal-Taix’e, Laura), Springer, 2012 (incollection)

ps

video publisher's site pdf Project Page [BibTex]

video publisher's site pdf Project Page [BibTex]


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Towards Robust Mobility, Flexible Object Manipulation, and Intuitive Multimodal Interaction for Domestic Service Robots

Stueckler, J., Droeschel, D., Gräve, K., Holz, D., Kläß, J., Schreiber, M., Steffens, R., Behnke, S.

In RoboCup 2011, Robot Soccer World Cup XV, pages: 51-62, Springer, 2012 (inbook)

ev

link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Automated Tip-Based 2-D Mechanical Assembly of Micro/Nanoparticles

Onal, C. D., Ozcan, O., Sitti, M.

In Feedback Control of MEMS to Atoms, pages: 69-108, Springer US, 2012 (incollection)

pi

[BibTex]

[BibTex]


Scan-Based Flow Modelling in Human Upper Airways
Scan-Based Flow Modelling in Human Upper Airways

Perumal Nithiarasu, Igor Sazonov, Si Yong Yeo

In Patient-Specific Modeling in Tomorrow’s Medicine, pages: 241 - 280, 0, (Editors: Amit Gefen), Springer, 2012 (inbook)

ps

[BibTex]

[BibTex]


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The principles of XMCD and its application to L-edges in transition metals

Schütz, G.

In Linear and Chiral Dichroism in the Electron Miroscope, pages: 23-42, Pan Stanford Publishing Pte.Ltd., Singapore, 2012 (incollection)

mms

[BibTex]

[BibTex]


An Introduction to Random Forests for Multi-class Object Detection
An Introduction to Random Forests for Multi-class Object Detection

Gall, J., Razavi, N., van Gool, L.

In Outdoor and Large-Scale Real-World Scene Analysis, 7474, pages: 243-263, LNCS, (Editors: Dellaert, Frank and Frahm, Jan-Michael and Pollefeys, Marc and Rosenhahn, Bodo and Leal-Taix’e, Laura), Springer, 2012 (incollection)

ps

code code for Hough forest publisher's site pdf Project Page [BibTex]

code code for Hough forest publisher's site pdf Project Page [BibTex]


Home {3D} body scans from noisy image and range data
Home 3D body scans from noisy image and range data

Weiss, A., Hirshberg, D., Black, M. J.

In Consumer Depth Cameras for Computer Vision: Research Topics and Applications, pages: 99-118, 6, (Editors: Andrea Fossati and Juergen Gall and Helmut Grabner and Xiaofeng Ren and Kurt Konolige), Springer-Verlag, 2012 (incollection)

ps

Project Page [BibTex]

Project Page [BibTex]


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Structural and chemical characterization on the nanoscale

Stierle, A., Carstanjen, H.-D., Hofmann, S.

In Nanoelectronics and Information Technology. Advanced Electronic Materials and Novel Devices, pages: 233-254, Wiley-VCH, Weinheim, 2012 (incollection)

mms

[BibTex]

[BibTex]


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Rutherford Backscattering

Carstanjen, H. D.

In Nanoelectronics and Information Technology. Advanced Electronic Materials and Novel Devices, pages: 250-252, WILEY-VCH Verlag, Weinheim, Germany, 2012 (incollection)

mms

[BibTex]

[BibTex]

2005


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Support Vector Machines and Kernel Algorithms

Schölkopf, B., Smola, A.

In Encyclopedia of Biostatistics (2nd edition), Vol. 8, 8, pages: 5328-5335, (Editors: P Armitage and T Colton), John Wiley & Sons, NY USA, 2005 (inbook)

ei

[BibTex]

2005


[BibTex]


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Visual perception I: Basic principles

Wagemans, J., Wichmann, F., de Beeck, H.

In Handbook of Cognition, pages: 3-47, (Editors: Lamberts, K. , R. Goldstone), Sage, London, 2005 (inbook)

ei

[BibTex]

[BibTex]


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The Boolean Model: from Matheron till today

Stoyan, D., Mecke, K.

In Space, Structure and Randomness: contributions in honor of Georges Matheron in the fields of geostatistics, random sets, and mathematical morphology, 183, pages: 151-182, Lecture Notes in Statistics, Springer, New York, 2005 (incollection)

icm

[BibTex]

[BibTex]


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Geckobot and waalbot: Small-scale wall climbing robots

Unver, O., Murphy, M., Sitti, M.

In Infotech@ Aerospace, pages: 6940, 2005 (incollection)

pi

[BibTex]

[BibTex]

2000


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Robust ensemble learning

Rätsch, G., Schölkopf, B., Smola, A., Mika, S., Onoda, T., Müller, K.

In Advances in Large Margin Classifiers, pages: 207-220, Neural Information Processing Series, (Editors: AJ Smola and PJ Bartlett and B Schölkopf and D. Schuurmans), MIT Press, Cambridge, MA, USA, October 2000 (inbook)

ei

[BibTex]

2000


[BibTex]


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Entropy numbers for convex combinations and MLPs

Smola, A., Elisseeff, A., Schölkopf, B., Williamson, R.

In Advances in Large Margin Classifiers, pages: 369-387, Neural Information Processing Series, (Editors: AJ Smola and PL Bartlett and B Schölkopf and D Schuurmans), MIT Press, Cambridge, MA,, October 2000 (inbook)

ei

[BibTex]

[BibTex]


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Natural Regularization from Generative Models

Oliver, N., Schölkopf, B., Smola, A.

In Advances in Large Margin Classifiers, pages: 51-60, Neural Information Processing Series, (Editors: AJ Smola and PJ Bartlett and B Schölkopf and D Schuurmans), MIT Press, Cambridge, MA, USA, October 2000 (inbook)

ei

[BibTex]

[BibTex]


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Solving Satisfiability Problems with Genetic Algorithms

Harmeling, S.

In Genetic Algorithms and Genetic Programming at Stanford 2000, pages: 206-213, (Editors: Koza, J. R.), Stanford Bookstore, Stanford, CA, USA, June 2000 (inbook)

Abstract
We show how to solve hard 3-SAT problems using genetic algorithms. Furthermore, we explore other genetic operators that may be useful to tackle 3-SAT problems, and discuss their pros and cons.

ei

PDF [BibTex]

PDF [BibTex]


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Statistical Learning and Kernel Methods

Schölkopf, B.

In CISM Courses and Lectures, International Centre for Mechanical Sciences Vol.431, CISM Courses and Lectures, International Centre for Mechanical Sciences, 431(23):3-24, (Editors: G Della Riccia and H-J Lenz and R Kruse), Springer, Vienna, Data Fusion and Perception, 2000 (inbook)

ei

[BibTex]

[BibTex]


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An Introduction to Kernel-Based Learning Algorithms

Müller, K., Mika, S., Rätsch, G., Tsuda, K., Schölkopf, B.

In Handbook of Neural Network Signal Processing, 4, (Editors: Yu Hen Hu and Jang-Neng Hwang), CRC Press, 2000 (inbook)

ei

[BibTex]

[BibTex]


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Biomimetic gaze stabilization

Shibata, T., Schaal, S.

In Robot learning: an Interdisciplinary approach, pages: 31-52, (Editors: Demiris, J.;Birk, A.), World Scientific, 2000, clmc (inbook)

Abstract
Accurate oculomotor control is one of the essential pre-requisites for successful visuomotor coordination. In this paper, we suggest a biologically inspired control system for learning gaze stabilization with a biomimetic robotic oculomotor system. In a stepwise fashion, we develop a control circuit for the vestibulo-ocular reflex (VOR) and the opto-kinetic response (OKR), and add a nonlinear learning network to allow adaptivity. We discuss the parallels and differences of our system with biological oculomotor control and suggest solutions how to deal with nonlinearities and time delays in the control system. In simulation and actual robot studies, we demonstrate that our system can learn gaze stabilization in real time in only a few seconds with high final accuracy.

am

link (url) [BibTex]

link (url) [BibTex]


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Age-momentum correlation (AMOC)

Stoll, H.

In Construction and Use of an Intense Positron Source at new Linac Facilities in Germany, FZR-295, pages: 44-49, Wissenschaftlich-Technische Berichte, 2000 (incollection)

mms

[BibTex]

[BibTex]


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MeV Positron Beams

Stoll, H.

In Positron Beams and Their Applications, pages: 237-257, World Scientific, Singapore, 2000 (incollection)

mms

[BibTex]

[BibTex]


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Critical behaviour of V2H in a defective near-surface skin layer

Trenkler, J., Moss, S. C., Reichert, H., Paniago, R., Gebhardt, U., Carstanjen, H. D., Metzger, T. H., Peisl, J.

In Exploration of Subsurface Phenomena by Particle Scattering, pages: 155-164, International Advanced Studies Institute IASI Press, North East/MD, 2000 (incollection)

mms

[BibTex]

[BibTex]