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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]

2017


Chapter 8 - Micro- and nanorobots in Newtonian and biological viscoelastic fluids
Chapter 8 - Micro- and nanorobots in Newtonian and biological viscoelastic fluids

Palagi, S., (Walker) Schamel, D., Qiu, T., Fischer, P.

In Microbiorobotics, pages: 133 - 162, 8, Micro and Nano Technologies, Second edition, Elsevier, Boston, March 2017 (incollection)

Abstract
Swimming microorganisms are a source of inspiration for small scale robots that are intended to operate in fluidic environments including complex biomedical fluids. Nature has devised swimming strategies that are effective at small scales and at low Reynolds number. These include the rotary corkscrew motion that, for instance, propels a flagellated bacterial cell, as well as the asymmetric beat of appendages that sperm cells or ciliated protozoa use to move through fluids. These mechanisms can overcome the reciprocity that governs the hydrodynamics at small scale. The complex molecular structure of biologically important fluids presents an additional challenge for the effective propulsion of microrobots. In this chapter it is shown how physical and chemical approaches are essential in realizing engineered abiotic micro- and nanorobots that can move in biomedically important environments. Interestingly, we also describe a microswimmer that is effective in biological viscoelastic fluids that does not have a natural analogue.

pf

link (url) DOI [BibTex]

2017


link (url) DOI [BibTex]


Appealing Avatars from {3D} Body Scans: Perceptual Effects of Stylization
Appealing Avatars from 3D Body Scans: Perceptual Effects of Stylization

Fleming, R., Mohler, B. J., Romero, J., Black, M. J., Breidt, M.

In Computer Vision, Imaging and Computer Graphics Theory and Applications: 11th International Joint Conference, VISIGRAPP 2016, Rome, Italy, February 27 – 29, 2016, Revised Selected Papers, pages: 175-196, Springer International Publishing, 2017 (inbook)

Abstract
Using styles derived from existing popular character designs, we present a novel automatic stylization technique for body shape and colour information based on a statistical 3D model of human bodies. We investigate whether such stylized body shapes result in increased perceived appeal with two different experiments: One focuses on body shape alone, the other investigates the additional role of surface colour and lighting. Our results consistently show that the most appealing avatar is a partially stylized one. Importantly, avatars with high stylization or no stylization at all were rated to have the least appeal. The inclusion of colour information and improvements to render quality had no significant effect on the overall perceived appeal of the avatars, and we observe that the body shape primarily drives the change in appeal ratings. For body scans with colour information, we found that a partially stylized avatar was perceived as most appealing.

ps

publisher site pdf DOI [BibTex]

publisher site pdf DOI [BibTex]


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Robot Learning

Peters, J., Lee, D., Kober, J., Nguyen-Tuong, D., Bagnell, J., Schaal, S.

In Springer Handbook of Robotics, pages: 357-394, 15, 2nd, (Editors: Siciliano, Bruno and Khatib, Oussama), Springer International Publishing, 2017 (inbook)

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Project Page [BibTex]

Project Page [BibTex]


Learning to Filter Object Detections
Learning to Filter Object Detections

Prokudin, S., Kappler, D., Nowozin, S., Gehler, P.

In Pattern Recognition: 39th German Conference, GCPR 2017, Basel, Switzerland, September 12–15, 2017, Proceedings, pages: 52-62, Springer International Publishing, Cham, 2017 (inbook)

Abstract
Most object detection systems consist of three stages. First, a set of individual hypotheses for object locations is generated using a proposal generating algorithm. Second, a classifier scores every generated hypothesis independently to obtain a multi-class prediction. Finally, all scored hypotheses are filtered via a non-differentiable and decoupled non-maximum suppression (NMS) post-processing step. In this paper, we propose a filtering network (FNet), a method which replaces NMS with a differentiable neural network that allows joint reasoning and re-scoring of the generated set of hypotheses per image. This formulation enables end-to-end training of the full object detection pipeline. First, we demonstrate that FNet, a feed-forward network architecture, is able to mimic NMS decisions, despite the sequential nature of NMS. We further analyze NMS failures and propose a loss formulation that is better aligned with the mean average precision (mAP) evaluation metric. We evaluate FNet on several standard detection datasets. Results surpass standard NMS on highly occluded settings of a synthetic overlapping MNIST dataset and show competitive behavior on PascalVOC2007 and KITTI detection benchmarks.

ps

Paper link (url) DOI Project Page [BibTex]

Paper link (url) DOI Project Page [BibTex]


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Policy Gradient Methods

Peters, J., Bagnell, J.

In Encyclopedia of Machine Learning and Data Mining, pages: 982-985, 2nd, (Editors: Sammut, Claude and Webb, Geoffrey I.), Springer US, 2017 (inbook)

ei

link (url) Project Page [BibTex]

link (url) Project Page [BibTex]


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Unsupervised clustering of EOG as a viable substitute for optical eye-tracking

Flad, N., Fomina, T., Bülthoff, H. H., Chuang, L. L.

In First Workshop on Eye Tracking and Visualization (ETVIS 2015), pages: 151-167, Mathematics and Visualization, (Editors: Burch, M., Chuang, L., Fisher, B., Schmidt, A., and Weiskopf, D.), Springer, 2017 (inbook)

ei

DOI [BibTex]

DOI [BibTex]


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Statistical Asymmetries Between Cause and Effect

Janzing, D.

In Time in Physics, pages: 129-139, Tutorials, Schools, and Workshops in the Mathematical Sciences, (Editors: Renner, Renato and Stupar, Sandra), Springer International Publishing, Cham, 2017 (inbook)

ei

link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Robot Learning

Peters, J., Tedrake, R., Roy, N., Morimoto, J.

In Encyclopedia of Machine Learning and Data Mining, pages: 1106-1109, 2nd, (Editors: Sammut, Claude and Webb, Geoffrey I.), Springer US, 2017 (inbook)

ei

DOI Project Page [BibTex]

DOI Project Page [BibTex]


Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots
Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots

Nestmeyer, T., Robuffo Giordano, P., Bülthoff, H. H., Franchi, A.

In pages: 989-1011, Autonomous Robots, 2017 (incollection)

ps

[BibTex]

[BibTex]


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Momentum-Centered Control of Contact Interactions

Righetti, L., Herzog, A.

In Geometric and Numerical Foundations of Movements, 117, pages: 339-359, Springer Tracts in Advanced Robotics, Springer, Cham, 2017 (incollection)

mg

link (url) [BibTex]

link (url) [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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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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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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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]


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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]


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]

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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Geckobot and waalbot: Small-scale wall climbing robots

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

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

pi

[BibTex]

[BibTex]

1995


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Batting a ball: Dynamics of a rhythmic skill

Sternad, D., Schaal, S., Atkeson, C. G.

In Studies in Perception and Action, pages: 119-122, (Editors: Bardy, B.;Bostma, R.;Guiard, Y.), Erlbaum, Hillsdayle, NJ, 1995, clmc (inbook)

am

[BibTex]

1995


[BibTex]