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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)

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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)

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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]


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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.

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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)

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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)

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[BibTex]

[BibTex]


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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)

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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.

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link (url) [BibTex]

link (url) [BibTex]


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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)

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code Project Page [BibTex]

code Project Page [BibTex]


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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]

1991


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Ways to smarter CAD-systems

Ehrlenspiel, K., Schaal, S.

In Proceedings of ICED’91Heurista, pages: 10-16, (Editors: Hubka), Edition, Schriftenreihe WDK 21. Zürich, 1991, clmc (inbook)

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[BibTex]

1991


[BibTex]