Publications | Max Planck Institute for Intelligent Systems

Tunable perpendicular exchange bias in oxide heterostructures

Kim, G., Khaydukov, Y., Bluschke, M., Suyolcu, Y. E., Christiani, G., Son, K., Dietl, C., Keller, T., Weschke, E., van Aken, P. A., Logvenov, G., Keimer, B.

{Physical Review Materials}, 3(8), American Physical Society, College Park, MD, 2019 (article)

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mms Kim, G., Khaydukov, Y., Bluschke, M., Suyolcu, Y. E., Christiani, G., Son, K., Dietl, C., Keller, T., Weschke, E., van Aken, P. A., Logvenov, G., Keimer, B. Tunable perpendicular exchange bias in oxide heterostructures {Physical Review Materials}, 3(8), American Physical Society, College Park, MD, 2019 (article)

Quantification of tumor heterogeneity using PET/MRI and machine learning

Katiyar, P.

Eberhard Karls Universität Tübingen, Germany, 2019 (phdthesis)

ei Katiyar, P. Quantification of tumor heterogeneity using PET/MRI and machine learning Eberhard Karls Universität Tübingen, Germany, 2019 (phdthesis)

Event-triggered Learning

Solowjow, F., Trimpe, S.

2019 (techreport) Submitted

ics

ics Solowjow, F., Trimpe, S. Event-triggered Learning 2019 (techreport) Submitted

MYND: A Platform for Large-scale Neuroscientific Studies

Hohmann, M. R., Hackl, M., Wirth, B., Zaman, T., Enficiaud, R., Grosse-Wentrup, M., Schölkopf, B.

Proceedings of the 2019 Conference on Human Factors in Computing Systems (CHI), 2019 (conference) Accepted

ei Hohmann, M. R., Hackl, M., Wirth, B., Zaman, T., Enficiaud, R., Grosse-Wentrup, M., Schölkopf, B. MYND: A Platform for Large-scale Neuroscientific Studies Proceedings of the 2019 Conference on Human Factors in Computing Systems (CHI), 2019 (conference) Accepted

Support Video link (url) [BibTex]

Automated Generation of Reactive Programs from Human Demonstration for Orchestration of Robot Behaviors

Berenz, V., Bjelic, A., Mainprice, J.

ArXiv, 2019 (article)

Abstract

Social robots or collaborative robots that have to interact with people in a reactive way are difficult to program. This difficulty stems from the different skills required by the programmer: to provide an engaging user experience the behavior must include a sense of aesthetics while robustly operating in a continuously changing environment. The Playful framework allows composing such dynamic behaviors using a basic set of action and perception primitives. Within this framework, a behavior is encoded as a list of declarative statements corresponding to high-level sensory-motor couplings. To facilitate non-expert users to program such behaviors, we propose a Learning from Demonstration (LfD) technique that maps motion capture of humans directly to a Playful script. The approach proceeds by identifying the sensory-motor couplings that are active at each step using the Viterbi path in a Hidden Markov Model (HMM). Given these activation patterns, binary classifiers called evaluations are trained to associate activations to sensory data. Modularity is increased by clustering the sensory-motor couplings, leading to a hierarchical tree structure. The novelty of the proposed approach is that the learned behavior is encoded not in terms of trajectories in a task space, but as couplings between sensory information and high-level motor actions. This provides advantages in terms of behavioral generalization and reactivity displayed by the robot.

am Berenz, V., Bjelic, A., Mainprice, J. Automated Generation of Reactive Programs from Human Demonstration for Orchestration of Robot Behaviors ArXiv, 2019 (article)

Support Video link (url) [BibTex]

Cognitive Prostheses for Goal Achievement

Lieder, F., Chen, O. X., Krueger, P. M., Griffiths, T.

Nature Human Behavior, 2019 (article)

re Lieder, F., Chen, O. X., Krueger, P. M., Griffiths, T. Cognitive Prostheses for Goal Achievement Nature Human Behavior, 2019 (article)

Remediating cognitive decline with cognitive tutors

Das, P., Callaway, F., Griffiths, T., Lieder, F.

RLDM 2019, 2019 (conference)

re Das, P., Callaway, F., Griffiths, T., Lieder, F. Remediating cognitive decline with cognitive tutors RLDM 2019, 2019 (conference)

Visual-Inertial Mapping with Non-Linear Factor Recovery

Usenko, V., Demmel, N., Schubert, D., Stückler, J., Cremers, D.

2019, arXiv:1904.06504 (misc)

ev Usenko, V., Demmel, N., Schubert, D., Stückler, J., Cremers, D. Visual-Inertial Mapping with Non-Linear Factor Recovery 2019, arXiv:1904.06504 (misc)

Interpreting first-order reversal curves beyond the Preisach model: An experimental permalloy microarray investigation

Groß, F., Ilse, S. E., Schütz, G., Gräfe, J., Goering, E.

{Physical Review B}, 99(6), American Physical Society, Woodbury, NY, 2019 (article)

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mms Groß, F., Ilse, S. E., Schütz, G., Gräfe, J., Goering, E. Interpreting first-order reversal curves beyond the Preisach model: An experimental permalloy microarray investigation {Physical Review B}, 99(6), American Physical Society, Woodbury, NY, 2019 (article)

A Kernel Stein Test for Comparing Latent Variable Models

Kanagawa, H., Jitkrittum, W., Mackey, L., Fukumizu, K., Gretton, A.

2019 (conference) Submitted

ei Kanagawa, H., Jitkrittum, W., Mackey, L., Fukumizu, K., Gretton, A. A Kernel Stein Test for Comparing Latent Variable Models 2019 (conference) Submitted

Bistability of magnetic states in Fe-Pd nanocap arrays

Aravind, P. B., Heigl, M., Fix, M., Groß, F., Gräfe, J., Mary, A., Rajgowrav, C. R., Krupiński, M., Marszałek, M., Thomas, S., Anantharaman, M. R., Albrecht, M.

Nanotechnology, 30, pages: 405705, 2019 (article)

Abstract

Magnetic bistability between vortex and single domain states in nanostructures are of great interest from both fundamental and technological perspectives. In soft magnetic nanostructures, the transition from a uniform collinear magnetic state to a vortex state (or vice versa) induced by a magnetic field involves an energy barrier. If the thermal energy is large enough for overcoming this energy barrier, magnetic bistability with a hysteresis-free switching occurs between the two magnetic states. In this work, we tune this energy barrier by tailoring the composition of FePd alloys, which were deposited onto self-assembled particle arrays forming magnetic vortex structures on top of the particles. The bifurcation temperature, where a hysteresis-free transition occurs, was extracted from the temperature dependence of the annihilation and nucleation field which increases almost linearly with Fe content of the magnetic alloy. This study provides insights into the magnetization reversal process associated with magnetic bistability, which allows adjusting the bifurcation temperature range by the material properties of the nanosystem.

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mms Aravind, P. B., Heigl, M., Fix, M., Groß, F., Gräfe, J., Mary, A., Rajgowrav, C. R., Krupiński, M., Marszałek, M., Thomas, S., Anantharaman, M. R., Albrecht, M. Bistability of magnetic states in Fe-Pd nanocap arrays Nanotechnology, 30, pages: 405705, 2019 (article)

Phenomenal Causality and Sensory Realism

Bruijns, S. A., Meding, K., Schölkopf, B., Wichmann, F. A.

European Conference on Visual Perception (ECVP), 2019 (poster)

ei Bruijns, S. A., Meding, K., Schölkopf, B., Wichmann, F. A. Phenomenal Causality and Sensory Realism European Conference on Visual Perception (ECVP), 2019 (poster)

dataset & evaluation code video preprint [BibTex]

Learning to Disentangle Latent Physical Factors for Video Prediction

Zhu, D., Munderloh, M., Rosenhahn, B., Stückler, J.

In German Conference on Pattern Recognition (GCPR), 2019, to appear (inproceedings)

ev Zhu, D., Munderloh, M., Rosenhahn, B., Stückler, J. Learning to Disentangle Latent Physical Factors for Video Prediction In German Conference on Pattern Recognition (GCPR), 2019, to appear (inproceedings)

dataset & evaluation code video preprint [BibTex]

An international laboratory comparison study of volumetric and gravimetric hydrogen adsorption measurements

Hurst, K. E., Gennett, T., Adams, J., Allendorf, M. D., Balderas-Xicohténcatl, R., Bielewski, M., Edwards, B., Espinal, L., Fultz, B., Hirscher, M., Hudson, M. S. L., Hulvey, Z., Latroche, M., Liu, D., Kapelewski, M., Napolitano, E., Perry, Z. T., Purewal, J., Stavila, V., Veenstra, M., White, J. L., Yuan, Y., Zhou, H., Zlotea, C., Parilla, P.

{ChemPhysChem}, 20(15):1997-2009, Wiley-VCH, Weinheim, Germany, 2019 (article)

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mms Hurst, K. E., Gennett, T., Adams, J., Allendorf, M. D., Balderas-Xicohténcatl, R., Bielewski, M., Edwards, B., Espinal, L., Fultz, B., Hirscher, M., Hudson, M. S. L., Hulvey, Z., Latroche, M., Liu, D., Kapelewski, M., Napolitano, E., Perry, Z. T., Purewal, J., Stavila, V., Veenstra, M., White, J. L., Yuan, Y., Zhou, H., Zlotea, C., Parilla, P. An international laboratory comparison study of volumetric and gravimetric hydrogen adsorption measurements {ChemPhysChem}, 20(15):1997-2009, Wiley-VCH, Weinheim, Germany, 2019 (article)

Hydrogen Energy

Hirscher, M., Autrey, T., Orimo, S.

{ChemPhysChem}, 20, pages: 1153-1411, Wiley-VCH, Weinheim, Germany, 2019 (misc)

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mms Hirscher, M., Autrey, T., Orimo, S. Hydrogen Energy {ChemPhysChem}, 20, pages: 1153-1411, Wiley-VCH, Weinheim, Germany, 2019 (misc)

Superior magnetic performance in FePt L10 nanomaterials

Son, K., Ryu, G. H., Jeong, H., Fink, L., Merz, M., Nagel, P., Schuppler, S., Richter, G., Goering, E., Schütz, G.

{Small}, 15(34), Wiley, Weinheim, Germany, 2019 (article)

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mms Son, K., Ryu, G. H., Jeong, H., Fink, L., Merz, M., Nagel, P., Schuppler, S., Richter, G., Goering, E., Schütz, G. Superior magnetic performance in FePt L10 nanomaterials {Small}, 15(34), Wiley, Weinheim, Germany, 2019 (article)

Mobile microrobots for active therapeutic delivery

Erkoc, P., Yasa, I. C., Ceylan, H., Yasa, O., Alapan, Y., Sitti, M.

Advanced Therapeutics, Wiley Online Library, 2019 (article)

pi Erkoc, P., Yasa, I. C., Ceylan, H., Yasa, O., Alapan, Y., Sitti, M. Mobile microrobots for active therapeutic delivery Advanced Therapeutics, Wiley Online Library, 2019 (article)

Shape-encoded dynamic assembly of mobile micromachines

Alapan, Y., Yigit, B., Beker, O., Demirörs, A. F., Sitti, M.

Nature, 18, 2019 (article)

pi Alapan, Y., Yigit, B., Beker, O., Demirörs, A. F., Sitti, M. Shape-encoded dynamic assembly of mobile micromachines Nature, 18, 2019 (article)

Microfluidics Integrated Lithography‐Free Nanophotonic Biosensor for the Detection of Small Molecules

Sreekanth, K. V., Sreejith, S., Alapan, Y., Sitti, M., Lim, C. T., Singh, R.

Advanced Optical Materials, 2019 (article)

pi Sreekanth, K. V., Sreejith, S., Alapan, Y., Sitti, M., Lim, C. T., Singh, R. Microfluidics Integrated Lithography‐Free Nanophotonic Biosensor for the Detection of Small Molecules Advanced Optical Materials, 2019 (article)

Gecko-inspired composite microfibers for reversible adhesion on smooth and rough surfaces

Drotlef, D., Dayan, C., Sitti, M.

In INTEGRATIVE AND COMPARATIVE BIOLOGY, pages: E58-E58, OXFORD UNIV PRESS INC JOURNALS DEPT, 2001 EVANS RD, CARY, NC 27513 USA, 2019 (inproceedings)

pi Drotlef, D., Dayan, C., Sitti, M. Gecko-inspired composite microfibers for reversible adhesion on smooth and rough surfaces In INTEGRATIVE AND COMPARATIVE BIOLOGY, pages: E58-E58, OXFORD UNIV PRESS INC JOURNALS DEPT, 2001 EVANS RD, CARY, NC 27513 USA, 2019 (inproceedings)

ENGINEERING Bio-inspired robotic collectives

Sitti, M.

Nature, 567, pages: 314-315, Macmillan Publishers Ltd., London, England, 2019 (article)

pi Sitti, M. ENGINEERING Bio-inspired robotic collectives Nature, 567, pages: 314-315, Macmillan Publishers Ltd., London, England, 2019 (article)

Immihan Ceren Yasa, A. F. T. O. Y. H. C. M. S.

3D‐Printed Microrobotic Transporters with Recapitulated Stem Cell Niche for Programmable and Active Cell Delivery

Advanced Functional Materials , 29, 2019 (article)

pi Immihan Ceren Yasa, A. F. T. O. Y. H. C. M. S. 3D‐Printed Microrobotic Transporters with Recapitulated Stem Cell Niche for Programmable and Active Cell Delivery Advanced Functional Materials , 29, 2019 (article)

Reliable Real-Time Ball Tracking for Robot Table Tennis

Gomez-Gonzalez, S., Nemmour, Y., Schölkopf, B., Peters, J.

Robotics, 8(4):90, 2019 (article)

ei Gomez-Gonzalez, S., Nemmour, Y., Schölkopf, B., Peters, J. Reliable Real-Time Ball Tracking for Robot Table Tennis Robotics, 8(4):90, 2019 (article)

https://arxiv.org/abs/1907.04616 [BibTex]

Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning

Yeganegi, M. H., Khadiv, M., Moosavian, S. A. A., Zhu, J., Prete, A. D., Righetti, L.

Proceedings International Conference on Humanoid Robots, IEEE, 2019 IEEE-RAS International Conference on Humanoid Robots, 2019 (conference)

Abstract

Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO problem to generate robust motions can easily lead to intractable problems. Furthermore, since the models used in TO have always some level of abstraction, it can be hard to find a realistic set of uncertainties in the model space. In this paper we leverage a sample-efficient learning technique (Bayesian optimization) to robustify TO for humanoid locomotion. The main idea is to use data from full-body simulations to make the TO stage robust by tuning the cost weights. To this end, we split the TO problem into two phases. The first phase solves a convex optimization problem for generating center of mass (CoM) trajectories based on simplified linear dynamics. The second stage employs iterative Linear-Quadratic Gaussian (iLQG) as a whole-body controller to generate full body control inputs. Then we use Bayesian optimization to find the cost weights to use in the first stage that yields robust performance in the simulation/experiment, in the presence of different disturbance/uncertainties. The results show that the proposed approach is able to generate robust motions for different sets of disturbances and uncertainties.

mg Yeganegi, M. H., Khadiv, M., Moosavian, S. A. A., Zhu, J., Prete, A. D., Righetti, L. Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning Proceedings International Conference on Humanoid Robots, IEEE, 2019 IEEE-RAS International Conference on Humanoid Robots, 2019 (conference)

https://arxiv.org/abs/1907.04616 [BibTex]

Peptide-Induced Biomineralization of Tin Oxide (SnO2) Nanoparticles for Antibacterial Applications

Singh, A. V., Jahnke, T., Xiao, Y., Wang, S., Yu, Y., David, H., Richter, G., Laux, P., Luch, A., Srivastava, A., Saxena, P. S., Bill, J., Sitti, M.

Journal of nanoscience and nanotechnology, 19, American Scientific Publishers, 2019 (article)

pi Singh, A. V., Jahnke, T., Xiao, Y., Wang, S., Yu, Y., David, H., Richter, G., Laux, P., Luch, A., Srivastava, A., Saxena, P. S., Bill, J., Sitti, M. Peptide-Induced Biomineralization of Tin Oxide (SnO2) Nanoparticles for Antibacterial Applications Journal of nanoscience and nanotechnology, 19, American Scientific Publishers, 2019 (article)

Effects of system response delays on elderly humans’ cognitive performance in a virtual training scenario

Wirzberger, M., Schmidt, R., Georgi, M., Hardt, W., Brunnett, G., Rey, G. D.

Scientific Reports, 9:8291, 2019 (article)

Abstract

Observed influences of system response delay in spoken human-machine dialogues are rather ambiguous and mainly focus on perceived system quality. Studies that systematically inspect effects on cognitive performance are still lacking, and effects of individual characteristics are also often neglected. Building on benefits of cognitive training for decelerating cognitive decline, this Wizard-of-Oz study addresses both issues by testing 62 elderly participants in a dialogue-based memory training with a virtual agent. Participants acquired the method of loci with fading instructional guidance and applied it afterward to memorizing and recalling lists of German nouns. System response delays were randomly assigned, and training performance was included as potential mediator. Participants’ age, gender, and subscales of affinity for technology (enthusiasm, competence, positive and negative perception of technology) were inspected as potential moderators. The results indicated positive effects on recall performance with higher training performance, female gender, and less negative perception of technology. Additionally, memory retention and facets of affinity for technology moderated increasing system response delays. Participants also provided higher ratings in perceived system quality with higher enthusiasm for technology but reported increasing frustration with a more positive perception of technology. Potential explanations and implications for the design of spoken dialogue systems are discussed.

re Wirzberger, M., Schmidt, R., Georgi, M., Hardt, W., Brunnett, G., Rey, G. D. Effects of system response delays on elderly humans’ cognitive performance in a virtual training scenario Scientific Reports, 9:8291, 2019 (article)

Vizualizing nanoscale spin waves using MAXYMUS

Gräfe, J., Weigand, M., Van Waeyenberge, B., Gangwar, A., Groß, F., Lisiecki, F., Rychly, J., Stoll, H., Träger, N., Förster, J., Stobiecki, F., Dubowik, J., Klos, H., Krwaczyk, M., Back, C. H., Goering, E. J., Schütz, G.

{Proceedings of SPIE}, 11090, SPIE, Bellingham, Washington, 2019 (article)

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mms Gräfe, J., Weigand, M., Van Waeyenberge, B., Gangwar, A., Groß, F., Lisiecki, F., Rychly, J., Stoll, H., Träger, N., Förster, J., Stobiecki, F., Dubowik, J., Klos, H., Krwaczyk, M., Back, C. H., Goering, E. J., Schütz, G. Vizualizing nanoscale spin waves using MAXYMUS {Proceedings of SPIE}, 11090, SPIE, Bellingham, Washington, 2019 (article)

Advances in Probabilistic Modelling: Sparse Gaussian Processes, Autoencoders, and Few-shot Learning

Bauer, M.

University of Cambridge, UK, 2019 (phdthesis)

ei Bauer, M. Advances in Probabilistic Modelling: Sparse Gaussian Processes, Autoencoders, and Few-shot Learning University of Cambridge, UK, 2019 (phdthesis)

link (url) Project Page [BibTex]

Resisting Adversarial Attacks using Gaussian Mixture Variational Autoencoders

Ghosh, P., Losalka, A., Black, M. J.

In Proc. AAAI, 2019 (inproceedings)

Abstract

Susceptibility of deep neural networks to adversarial attacks poses a major theoretical and practical challenge. All efforts to harden classifiers against such attacks have seen limited success till now. Two distinct categories of samples against which deep neural networks are vulnerable, ``adversarial samples" and ``fooling samples", have been tackled separately so far due to the difficulty posed when considered together. In this work, we show how one can defend against them both under a unified framework. Our model has the form of a variational autoencoder with a Gaussian mixture prior on the latent variable, such that each mixture component corresponds to a single class. We show how selective classification can be performed using this model, thereby causing the adversarial objective to entail a conflict. The proposed method leads to the rejection of adversarial samples instead of misclassification, while maintaining high precision and recall on test data. It also inherently provides a way of learning a selective classifier in a semi-supervised scenario, which can similarly resist adversarial attacks. We further show how one can reclassify the detected adversarial samples by iterative optimization.

ps Ghosh, P., Losalka, A., Black, M. J. Resisting Adversarial Attacks using Gaussian Mixture Variational Autoencoders In Proc. AAAI, 2019 (inproceedings)

link (url) Project Page [BibTex]

A meta-analysis of the segmenting effect

Rey, G. D., Beege, M., Nebel, S., Wirzberger, M., Schmitt, T., Schneider, S.

Educational Psychology Review, 2019 (article)

Abstract

The segmenting effect states that people learn better when multimedia instructions are presented in (meaningful and coherent) learner-paced segments, rather than as continuous units. This meta-analysis contains 56 investigations including 88 pairwise comparisons and reveals a significant segmenting effect with small to medium effects for retention and transfer performance. Segmentation also reduces the overall cognitive load and increases learning time. These four effects are confirmed for a system-paced segmentation. The meta-analysis tests different explanations for the segmenting effect that concern facilitating chunking and structuring due to segmenting the multimedia instruction by the instructional designer, providing more time for processing the instruction and allowing the learners to adapt the presentation pace to their individual needs. Moderation analyses indicate that learners with high prior knowledge benefitted more from segmenting instructional material than learners with no or low prior knowledge in terms of retention performance.

re Rey, G. D., Beege, M., Nebel, S., Wirzberger, M., Schmitt, T., Schneider, S. A meta-analysis of the segmenting effect Educational Psychology Review, 2019 (article)

Electromechanical actuation of dielectric liquid crystal elastomers for soft robotics

Davidson, Z., Shahsavan, H., Guo, Y., Hines, L., Xia, Y., Yang, S., Sitti, M.

Bulletin of the American Physical Society, APS, 2019 (article)

pi Davidson, Z., Shahsavan, H., Guo, Y., Hines, L., Xia, Y., Yang, S., Sitti, M. Electromechanical actuation of dielectric liquid crystal elastomers for soft robotics Bulletin of the American Physical Society, APS, 2019 (article)

From Variational to Deterministic Autoencoders

Ghosh*, P., Sajjadi*, M. S. M., Vergari, A., Black, M. J., Schölkopf, B.

2019, *equal contribution (conference) Submitted

Abstract

Variational Autoencoders (VAEs) provide a theoretically-backed framework for deep generative models. However, they often produce “blurry” images, which is linked to their training objective. Sampling in the most popular implementation, the Gaussian VAE, can be interpreted as simply injecting noise to the input of a deterministic decoder. In practice, this simply enforces a smooth latent space structure. We challenge the adoption of the full VAE framework on this specific point in favor of a simpler, deterministic one. Specifically, we investigate how substituting stochasticity with other explicit and implicit regularization schemes can lead to a meaningful latent space without having to force it to conform to an arbitrarily chosen prior. To retrieve a generative mechanism for sampling new data points, we propose to employ an efficient ex-post density estimation step that can be readily adopted both for the proposed deterministic autoencoders as well as to improve sample quality of existing VAEs. We show in a rigorous empirical study that regularized deterministic autoencoding achieves state-of-the-art sample quality on the common MNIST, CIFAR-10 and CelebA datasets.

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ei ps Ghosh*, P., Sajjadi*, M. S. M., Vergari, A., Black, M. J., Schölkopf, B. From Variational to Deterministic Autoencoders 2019, *equal contribution (conference) Submitted

A rational reinterpretation of dual process theories

Milli, S., Lieder, F., Griffiths, T.

2019 (article)

re Milli, S., Lieder, F., Griffiths, T. A rational reinterpretation of dual process theories 2019 (article)

DirectShape: Photometric Alignment of Shape Priors for Visual Vehicle Pose and Shape Estimation

Wang, R., Yang, N., Stückler, J., Cremers, D.

2019, arXiv:1904.10097 (misc)

ev Wang, R., Yang, N., Stückler, J., Cremers, D. DirectShape: Photometric Alignment of Shape Priors for Visual Vehicle Pose and Shape Estimation 2019, arXiv:1904.10097 (misc)

Probabilistic Linear Solvers: A Unifying View

Bartels, S., Cockayne, J., Ipsen, I. C. F., Hennig, P.

Statistics and Computing, 2019 (article) Accepted

pn Bartels, S., Cockayne, J., Ipsen, I. C. F., Hennig, P. Probabilistic Linear Solvers: A Unifying View Statistics and Computing, 2019 (article) Accepted

3D Birds-Eye-View Instance Segmentation

Elich, C., Engelmann, F., Kontogianni, T., Leibe, B.

In German Conference on Pattern Recognition (GCPR), 2019, arXiv:1904.02199, to appear (inproceedings)

ev Elich, C., Engelmann, F., Kontogianni, T., Leibe, B. 3D Birds-Eye-View Instance Segmentation In German Conference on Pattern Recognition (GCPR), 2019, arXiv:1904.02199, to appear (inproceedings)

arXiv link (url) DOI Project Page [BibTex]

Optimizing the Execution of Dynamic Robot Movements With Learning Control

Koc, O., Maeda, G., Peters, J.

IEEE Transactions on Robotics, pages: 1-16, 2019 (article)

ei Koc, O., Maeda, G., Peters, J. Optimizing the Execution of Dynamic Robot Movements With Learning Control IEEE Transactions on Robotics, pages: 1-16, 2019 (article)

arXiv link (url) DOI Project Page [BibTex]

Learning to Serve: An Experimental Study for a New Learning From Demonstrations Framework

Koc, O., Peters, J.

IEEE Robotics and Automation Letters, 4(2):1784-1791, 2019 (article)

link (url) DOI Project Page [BibTex]

ei Koc, O., Peters, J. Learning to Serve: An Experimental Study for a New Learning From Demonstrations Framework IEEE Robotics and Automation Letters, 4(2):1784-1791, 2019 (article)

link (url) DOI Project Page [BibTex]

Fisher Efficient Inference of Intractable Models

Liu, S., Kanamori, T., Jitkrittum, W., Chen, Y.

Advances in Neural Information Processing Systems 32, 33rd Annual Conference on Neural Information Processing Systems, 2019 (conference) To be published

ei Liu, S., Kanamori, T., Jitkrittum, W., Chen, Y. Fisher Efficient Inference of Intractable Models Advances in Neural Information Processing Systems 32, 33rd Annual Conference on Neural Information Processing Systems, 2019 (conference) To be published

NoVA: Learning to See in Novel Viewpoints and Domains

Coors, B., Condurache, A. P., Geiger, A.

In 2019 International Conference on 3D Vision (3DV), 2019 International Conference on 3D Vision (3DV), 2019 (inproceedings)

Abstract

Domain adaptation techniques enable the re-use and transfer of existing labeled datasets from a source to a target domain in which little or no labeled data exists. Recently, image-level domain adaptation approaches have demonstrated impressive results in adapting from synthetic to real-world environments by translating source images to the style of a target domain. However, the domain gap between source and target may not only be caused by a different style but also by a change in viewpoint. This case necessitates a semantically consistent translation of source images and labels to the style and viewpoint of the target domain. In this work, we propose the Novel Viewpoint Adaptation (NoVA) model, which enables unsupervised adaptation to a novel viewpoint in a target domain for which no labeled data is available. NoVA utilizes an explicit representation of the 3D scene geometry to translate source view images and labels to the target view. Experiments on adaptation to synthetic and real-world datasets show the benefit of NoVA compared to state-of-the-art domain adaptation approaches on the task of semantic segmentation.

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pdf suppmat poster video [BibTex]

avg Coors, B., Condurache, A. P., Geiger, A. NoVA: Learning to See in Novel Viewpoints and Domains In 2019 International Conference on 3D Vision (3DV), 2019 International Conference on 3D Vision (3DV), 2019 (inproceedings)

pdf suppmat poster video [BibTex]

Systematic experimental study on quantum sieving of hydrogen isotopes in metal-amide-imidazolate frameworks with narrow 1-D channels

Mondal, S. S., Kreuzer, A., Behrens, K., Schütz, G., Holdt, H., Hirscher, M.

{ChemPhysChem}, 20(10):1311-1315, Wiley-VCH, Weinheim, Germany, 2019 (article)

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mms Mondal, S. S., Kreuzer, A., Behrens, K., Schütz, G., Holdt, H., Hirscher, M. Systematic experimental study on quantum sieving of hydrogen isotopes in metal-amide-imidazolate frameworks with narrow 1-D channels {ChemPhysChem}, 20(10):1311-1315, Wiley-VCH, Weinheim, Germany, 2019 (article)

The route to supercurrent transparent ferromagnetic barriers in superconducting matrix

Ivanov, Y. P., Soltan, S., Albrecht, J., Goering, E., Schütz, G., Zhang, Z., Chuvilin, A.

{ACS Nano}, 13(5):5655-5661, American Chemical Society, Washington, DC, 2019 (article)

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mms Ivanov, Y. P., Soltan, S., Albrecht, J., Goering, E., Schütz, G., Zhang, Z., Chuvilin, A. The route to supercurrent transparent ferromagnetic barriers in superconducting matrix {ACS Nano}, 13(5):5655-5661, American Chemical Society, Washington, DC, 2019 (article)

Event-triggered Learning for Linear Quadratic Control

Schlüter, H., Solowjow, F., Trimpe, S.

2019 (techreport)

ics

ics Schlüter, H., Solowjow, F., Trimpe, S. Event-triggered Learning for Linear Quadratic Control 2019 (techreport)

Simultaneous Six-Degree-of-Freedom Control of a Single-Body Magnetic Microrobot

Giltinan, J., Sitti, M.

IEEE Robotics and Automation Letters, 4, 2019 (article)

pi Giltinan, J., Sitti, M. Simultaneous Six-Degree-of-Freedom Control of a Single-Body Magnetic Microrobot IEEE Robotics and Automation Letters, 4, 2019 (article)

Monolithic shape-programmable dielectric liquid crystal elastomer actuators

Davidson, Z. S., Shahsavan, H., Aghakhani, A., Guo, Y., Hines, L., Xia, Y., Yang, S., Sitti, M.

arXiv preprint arXiv:1904.09606, 2019 (article)

pi Davidson, Z. S., Shahsavan, H., Aghakhani, A., Guo, Y., Hines, L., Xia, Y., Yang, S., Sitti, M. Monolithic shape-programmable dielectric liquid crystal elastomer actuators arXiv preprint arXiv:1904.09606, 2019 (article)

Bio-inspired composite microfibers for strong and reversible adhesion on smooth surfaces

Drotlef, D., Dayan, C., Sitti, M.

Integrative and comparative biology, 2019 (article)

pi Drotlef, D., Dayan, C., Sitti, M. Bio-inspired composite microfibers for strong and reversible adhesion on smooth surfaces Integrative and comparative biology, 2019 (article)

Elevation and Azimuth Rotational Actuation of an Untethered Millirobot by MRI Gradient Coils

Erin, O., Gilbert, H. B., Tabak, A. F., Sitti, M.

IEEE Transactions on Robotics, IEEE, 2019 (article)

pi Erin, O., Gilbert, H. B., Tabak, A. F., Sitti, M. Elevation and Azimuth Rotational Actuation of an Untethered Millirobot by MRI Gradient Coils IEEE Transactions on Robotics, IEEE, 2019 (article)

Learning to Navigate Endoscopic Capsule Robots

Turan, M., Almalioglu, Y., Gilbert, H. B., Mahmood, F., Durr, N. J., Araujo, H., Sarı, A. E., Ajay, A., Sitti, M.

IEEE Robotics and Automation Letters, 4, 2019 (article)

pi Turan, M., Almalioglu, Y., Gilbert, H. B., Mahmood, F., Durr, N. J., Araujo, H., Sarı, A. E., Ajay, A., Sitti, M. Learning to Navigate Endoscopic Capsule Robots IEEE Robotics and Automation Letters, 4, 2019 (article)

Eigendecompositions of Transfer Operators in Reproducing Kernel Hilbert Spaces

Klus, S., Schuster, I., Muandet, K.

Journal of Nonlinear Science, 2019, First Online: 21 August 2019 (article)

ei Klus, S., Schuster, I., Muandet, K. Eigendecompositions of Transfer Operators in Reproducing Kernel Hilbert Spaces Journal of Nonlinear Science, 2019, First Online: 21 August 2019 (article)