Publications | Max Planck Institute for Intelligent Systems

Ground reaction force sensing is one of the key components of gait analysis in legged locomotion research. To measure continuous force data during locomotion, we present a novel compound instrumented treadmill design. The treadmill is 1.7 m long, with a natural frequency of 170 Hz and an adjustable range that can be used for humans and small robots alike. Here, we present the treadmill’s design methodology and characterize it in its natural frequency, noise behavior and real-life performance. Additionally, we apply an ISO 376 norm conform calibration procedure for all spatial force directions and center of pressure position. We achieve a force accuracy of ≤ 5.6 N for the ground reaction forces and ≤ 13 mm in center of pressure position.

dlg

arXiv link (url) DOI [BibTex]

dlg Sarvestani, A., Ruppert, F., Badri-Spröwitz, A. An Open-Source Modular Treadmill for Dynamic Force Measurement with Load Dependant Range Adjustment 2023 (unpublished) Submitted

arXiv link (url) DOI [BibTex]

Natural Language Processing for Policymaking

Jin, Z., Mihalcea, R.

In Handbook of Computational Social Science for Policy, pages: 141-162, 7, (Editors: Bertoni, E. and Fontana, M. and Gabrielli, L. and Signorelli, S. and Vespe, M.), Springer International Publishing, 2023 (inbook)

DOI [BibTex]

ei Jin, Z., Mihalcea, R. Natural Language Processing for Policymaking In Handbook of Computational Social Science for Policy, pages: 141-162, 7, (Editors: Bertoni, E. and Fontana, M. and Gabrielli, L. and Signorelli, S. and Vespe, M.), Springer International Publishing, 2023 (inbook)

DOI [BibTex]

2022

Life Improvement Science

Lieder, F., Prentice, M.

In Encyclopedia of Quality of Life and Well-Being Research, Springer, November 2022 (inbook)

[BibTex]

2022

re Lieder, F., Prentice, M. Life Improvement Science In Encyclopedia of Quality of Life and Well-Being Research, Springer, November 2022 (inbook)

[BibTex]

Investigating Independent Mechanisms in Neural Networks

Liang, W.

Université Paris-Saclay, France, October 2022 (mastersthesis)

[BibTex]

ei Liang, W. Investigating Independent Mechanisms in Neural Networks Université Paris-Saclay, France, October 2022 (mastersthesis)

[BibTex]

Modeling subgroup differences in fMRI data: disentangling subgroup-specific responses from shared ones

Keidar, D.

ETH Zurich, Switzerland, October 2022 (mastersthesis)

[BibTex]

ei Keidar, D. Modeling subgroup differences in fMRI data: disentangling subgroup-specific responses from shared ones ETH Zurich, Switzerland, October 2022 (mastersthesis)

[BibTex]

Multi-Target Multi-Object Manipulation using Relational Deep Reinforcement Learning

Feil, M.

Technnical University Munich, Germany, September 2022 (mastersthesis)

[BibTex]

ei Feil, M. Multi-Target Multi-Object Manipulation using Relational Deep Reinforcement Learning Technnical University Munich, Germany, September 2022 (mastersthesis)

[BibTex]

Independent Mechanism Analysis for High Dimensions

Sliwa, J.

University of Tübingen, Germany, September 2022, (Graduate Training Centre of Neuroscience) (mastersthesis)

[BibTex]

ei Sliwa, J. Independent Mechanism Analysis for High Dimensions University of Tübingen, Germany, September 2022, (Graduate Training Centre of Neuroscience) (mastersthesis)

[BibTex]

On the Adversarial Robustness of Causal Algorithmic Recourse

Dominguez-Olmedo, R.

University of Tübingen, Germany, August 2022 (mastersthesis)

[BibTex]

ei Dominguez-Olmedo, R. On the Adversarial Robustness of Causal Algorithmic Recourse University of Tübingen, Germany, August 2022 (mastersthesis)

[BibTex]

Independent Mechanism Analysis in High-Dimensional Observation Spaces

Ghosh, S.

ETH Zurich, Switzerland, June 2022 (mastersthesis)

[BibTex]

ei Ghosh, S. Independent Mechanism Analysis in High-Dimensional Observation Spaces ETH Zurich, Switzerland, June 2022 (mastersthesis)

[BibTex]

Proceedings of the First Conference on Causal Learning and Reasoning (CLeaR 2022)

Schölkopf, B., Uhler, C., Zhang, K.

177, Proceedings of Machine Learning Research, PMLR, April 2022 (proceedings)

link (url) [BibTex]

ei Schölkopf, B., Uhler, C., Zhang, K. Proceedings of the First Conference on Causal Learning and Reasoning (CLeaR 2022) 177, Proceedings of Machine Learning Research, PMLR, April 2022 (proceedings)

link (url) [BibTex]

Causal Models for Dynamical Systems

Peters, J., Bauer, S., Pfister, N.

In Probabilistic and Causal Inference: The Works of Judea Pearl, pages: 671-690, 1, Association for Computing Machinery, 2022 (inbook)

arXiv DOI [BibTex]

ei Peters, J., Bauer, S., Pfister, N. Causal Models for Dynamical Systems In Probabilistic and Causal Inference: The Works of Judea Pearl, pages: 671-690, 1, Association for Computing Machinery, 2022 (inbook)

arXiv DOI [BibTex]

Towards Causal Algorithmic Recourse

Karimi, A. H., von Kügelgen, J., Schölkopf, B., Valera, I.

In xxAI - Beyond Explainable AI: International Workshop, Held in Conjunction with ICML 2020, July 18, 2020, Vienna, Austria, Revised and Extended Papers, pages: 139-166, (Editors: Holzinger, Andreas and Goebel, Randy and Fong, Ruth and Moon, Taesup and Müller, Klaus-Robert and Samek, Wojciech), Springer International Publishing, 2022 (inbook)

ei plg

DOI [BibTex]

ei plg Karimi, A. H., von Kügelgen, J., Schölkopf, B., Valera, I. Towards Causal Algorithmic Recourse In xxAI - Beyond Explainable AI: International Workshop, Held in Conjunction with ICML 2020, July 18, 2020, Vienna, Austria, Revised and Extended Papers, pages: 139-166, (Editors: Holzinger, Andreas and Goebel, Randy and Fong, Ruth and Moon, Taesup and Müller, Klaus-Robert and Samek, Wojciech), Springer International Publishing, 2022 (inbook)

DOI [BibTex]

Causality for Machine Learning

Schölkopf, B.

In Probabilistic and Causal Inference: The Works of Judea Pearl, pages: 765-804, 1, Association for Computing Machinery, New York, NY, USA, 2022 (inbook)

arXiv DOI [BibTex]

ei Schölkopf, B. Causality for Machine Learning In Probabilistic and Causal Inference: The Works of Judea Pearl, pages: 765-804, 1, Association for Computing Machinery, New York, NY, USA, 2022 (inbook)

arXiv DOI [BibTex]

CLEVR-X: A Visual Reasoning Dataset for Natural Language Explanations

Salewski, L., Koepke, A. S., Lensch, H. P. A., Akata, Z.

In xxAI - Beyond Explainable AI: International Workshop, Held in Conjunction with ICML 2020, July 18, 2020, Vienna, Austria, Revised and Extended Papers, pages: 69-88, (Editors: Holzinger, Andreas and Goebel, Randy and Fong, Ruth and Moon, Taesup and Müller, Klaus-Robert and Samek, Wojciech), Springer International Publishing, 2022 (inbook)

DOI [BibTex]

ei Salewski, L., Koepke, A. S., Lensch, H. P. A., Akata, Z. CLEVR-X: A Visual Reasoning Dataset for Natural Language Explanations In xxAI - Beyond Explainable AI: International Workshop, Held in Conjunction with ICML 2020, July 18, 2020, Vienna, Austria, Revised and Extended Papers, pages: 69-88, (Editors: Holzinger, Andreas and Goebel, Randy and Fong, Ruth and Moon, Taesup and Müller, Klaus-Robert and Samek, Wojciech), Springer International Publishing, 2022 (inbook)

DOI [BibTex]

Voltage dependent investigations on the spin polarization of layered heterostructues

Miller, M.

Universität Stuttgart, Stuttgart, 2022 (mastersthesis)

mms

[BibTex]

mms Miller, M. Voltage dependent investigations on the spin polarization of layered heterostructues Universität Stuttgart, Stuttgart, 2022 (mastersthesis)

[BibTex]

2021

Magnetic Micro-/Nanopropellers for Biomedicine

Qiu, T., Jeong, M., Goyal, R., Kadiri, V., Sachs, J., Fischer, P.

In Field-Driven Micro and Nanorobots for Biology and Medicine, pages: 389-410, 16, (Editors: Sun, Y. and Wang, X. and Yu, J.), Springer Nature, November 2021 (inbook)

Abstract

In nature, many bacteria swim by rotating their helical flagella. A particularly promising class of artificial micro- and nano-robots mimic this propeller-like propulsion mechanism to move through fluids and tissues for applications in minimally-invasive medicine. Several fundamental challenges have to be overcome in order to build micro-machines that move similar to bacteria for in vivo applications. Here, we review recent advances of magnetically-powered micro-/nano-propellers. Four important aspects of the propellers – the geometrical shape, the fabrication method, the generation of magnetic fields for actuation, and the choice of biocompatible magnetic materials – are highlighted. First, the fundamental requirements are elucidated that arise due to hydrodynamics at low Reynolds (Re) number. We discuss the role that the propellers’ shape and symmetry play in realizing effective propulsion at low Re. Second, the additive nano-fabrication method Glancing Angle Deposition is discussed as a versatile technique to quickly grow large numbers of designer nano-helices. Third, systems to generate rotating magnetic fields via permanent magnets or electromagnetic coils are presented. And finally, the biocompatibility of the magnetic materials is discussed. Iron-platinum is highlighted due to its biocompatibility and its superior magnetic properties, which is promising for targeted delivery, minimally-invasive magnetic nano-devices and biomedical applications.

link (url) DOI [BibTex]

2021

pf Qiu, T., Jeong, M., Goyal, R., Kadiri, V., Sachs, J., Fischer, P. Magnetic Micro-/Nanopropellers for Biomedicine In Field-Driven Micro and Nanorobots for Biology and Medicine, pages: 389-410, 16, (Editors: Sun, Y. and Wang, X. and Yu, J.), Springer Nature, November 2021 (inbook)

link (url) DOI [BibTex]

Learning Neural Causal Models with Active Interventions

Scherrer, N.

ETH Zurich, Switzerland, November 2021 (mastersthesis)

[BibTex]

ei Scherrer, N. Learning Neural Causal Models with Active Interventions ETH Zurich, Switzerland, November 2021 (mastersthesis)

[BibTex]

HealthGen: Conditional Generation of Realistic Medical Time Series with Informative Missingness

Bing, S.

ETH Zurich, Switzerland, October 2021 (mastersthesis)

[BibTex]

ei Bing, S. HealthGen: Conditional Generation of Realistic Medical Time Series with Informative Missingness ETH Zurich, Switzerland, October 2021 (mastersthesis)

[BibTex]

Study of the Interventional Consistency of Autoencoders

Lanzillotta, G.

ETH Zurich, Switzerland, October 2021 (mastersthesis)

[BibTex]

ei Lanzillotta, G. Study of the Interventional Consistency of Autoencoders ETH Zurich, Switzerland, October 2021 (mastersthesis)

[BibTex]

Training with Few to Manipulate Many. On OOD generalization in relational reinforcement learning

Mambelli, D.

ETH Zurich, Switzerland, October 2021 (mastersthesis)

[BibTex]

ei Mambelli, D. Training with Few to Manipulate Many. On OOD generalization in relational reinforcement learning ETH Zurich, Switzerland, October 2021 (mastersthesis)

[BibTex]

Electriflow: Augmenting Books With Tangible Animation Using Soft Electrohydraulic Actuators

Purnendu, , Novack, S., Acome, E., Alistar, M., Keplinger, C., Gross, M. D., Bruns, C., Leithinger, D.

In ACM SIGGRAPH 2021 Labs, pages: 1-2, Association for Computing Machinery, SIGGRAPH 2021, August 2021 (inbook)

Abstract

We present Electriflow: a method of augmenting books with tangible animation employing soft electrohydraulic actuators. These actuators are compact, silent and fast in operation, and can be fabricated with commodity materials. They generate an immediate hydraulic force upon electrostatic activation without an external fluid supply source, enabling a simple and self-contained design. Electriflow actuators produce an immediate shape transition from flat to folded state which enabled their seamless integration into books. For the Emerging Technologies exhibit, we will demonstrate the prototype of a book augmented with the capability of tangible animation.

Supplemental Material link (url) DOI [BibTex]

rm Purnendu, , Novack, S., Acome, E., Alistar, M., Keplinger, C., Gross, M. D., Bruns, C., Leithinger, D. Electriflow: Augmenting Books With Tangible Animation Using Soft Electrohydraulic Actuators In ACM SIGGRAPH 2021 Labs, pages: 1-2, Association for Computing Machinery, SIGGRAPH 2021, August 2021 (inbook)

Supplemental Material link (url) DOI [BibTex]

Proceedings of the 1st Workshop on NLP for Positive Impact

Field, A., Prabhumoye, S., Sap, M., Jin, Z., Zhao, J., Brockett, C.

Association for Computational Linguistics, August 2021 (proceedings)

link (url) [BibTex]

ei Field, A., Prabhumoye, S., Sap, M., Jin, Z., Zhao, J., Brockett, C. Proceedings of the 1st Workshop on NLP for Positive Impact Association for Computational Linguistics, August 2021 (proceedings)

link (url) [BibTex]

Robotic Surgery Training in AR: Multimodal Record and Replay

Krauthausen, F.

pages: 1-147, University of Stuttgart, Stuttgart, May 2021, Study Program in Software Engineering (mastersthesis)

[BibTex]

hi Krauthausen, F. Robotic Surgery Training in AR: Multimodal Record and Replay pages: 1-147, University of Stuttgart, Stuttgart, May 2021, Study Program in Software Engineering (mastersthesis)

[BibTex]

Direct detection of spin Hall effect induced torques in platinum/ferromagnetic bilayer systems

Alten, F.

Universität Stuttgart, Stuttgart, January 2021 (mastersthesis)

mms

[BibTex]

mms Alten, F. Direct detection of spin Hall effect induced torques in platinum/ferromagnetic bilayer systems Universität Stuttgart, Stuttgart, January 2021 (mastersthesis)

[BibTex]

Method of making one or more fibrils, computer implemented method of simulating an adhesive force of one or more fibrils and fibril

Sitti, M., Liimatainen, V.

2021, EP Prio. Patent App. 21 162 253.5 (mpi_year_book)

[BibTex]

pi Sitti, M., Liimatainen, V. Method of making one or more fibrils, computer implemented method of simulating an adhesive force of one or more fibrils and fibril 2021, EP Prio. Patent App. 21 162 253.5 (mpi_year_book)

[BibTex]

Community detection in heterogeneously attributed networks

Zottino, N.

Politecnico di Torino, 2021 (mastersthesis)

pio

link (url) [BibTex]

pio Zottino, N. Community detection in heterogeneously attributed networks Politecnico di Torino, 2021 (mastersthesis)

link (url) [BibTex]

2020

Hydromagnonics: Manipulation of magnonic systems with hydrogen

Sauter, R.

Universität Stuttgart, Stuttgart, December 2020 (mastersthesis)

mms

[BibTex]

2020

mms Sauter, R. Hydromagnonics: Manipulation of magnonic systems with hydrogen Universität Stuttgart, Stuttgart, December 2020 (mastersthesis)

[BibTex]

A Robotic Manipulation Benchmark for Causal Structure and Transfer Learning

Ahmed, O.

ETH Zurich, Switzerland, October 2020 (mastersthesis)

[BibTex]

ei Ahmed, O. A Robotic Manipulation Benchmark for Causal Structure and Transfer Learning ETH Zurich, Switzerland, October 2020 (mastersthesis)

[BibTex]

A Comprehensive Benchmark Evaluation of Synthetic Data Generation for Biomedical Imaging

DuMont Schütte, A.

ETH Zurich, Switzerland, October 2020 (mastersthesis)

[BibTex]

ei DuMont Schütte, A. A Comprehensive Benchmark Evaluation of Synthetic Data Generation for Biomedical Imaging ETH Zurich, Switzerland, October 2020 (mastersthesis)

[BibTex]

Deep learning for the parameter estimation of tight-binding Hamiltonians

Cacioppo, A.

University of Roma, La Sapienza, Italy, May 2020 (mastersthesis)

[BibTex]

ei Cacioppo, A. Deep learning for the parameter estimation of tight-binding Hamiltonians University of Roma, La Sapienza, Italy, May 2020 (mastersthesis)

[BibTex]

Learning Algorithms, Invariances, and the Real World

Zecevic, M.

Technical University of Darmstadt, Germany, April 2020 (mastersthesis)

[BibTex]

ei Zecevic, M. Learning Algorithms, Invariances, and the Real World Technical University of Darmstadt, Germany, April 2020 (mastersthesis)

[BibTex]

Interaction of hydrogen isotopes with flexible metal-organic frameworks

Bondorf, L.

Universität Stuttgart, Stuttgart, February 2020 (mastersthesis)

mms

[BibTex]

mms Bondorf, L. Interaction of hydrogen isotopes with flexible metal-organic frameworks Universität Stuttgart, Stuttgart, February 2020 (mastersthesis)

[BibTex]

Excursion Search for Constrained Bayesian Optimization under a Limited Budget of Failures

Marco, A., Rohr, A. V., Baumann, D., Hernández-Lobato, J. M., Trimpe, S.

2020 (proceedings) In revision

Abstract

When learning to ride a bike, a child falls down a number of times before achieving the first success. As falling down usually has only mild consequences, it can be seen as a tolerable failure in exchange for a faster learning process, as it provides rich information about an undesired behavior. In the context of Bayesian optimization under unknown constraints (BOC), typical strategies for safe learning explore conservatively and avoid failures by all means. On the other side of the spectrum, non conservative BOC algorithms that allow failing may fail an unbounded number of times before reaching the optimum. In this work, we propose a novel decision maker grounded in control theory that controls the amount of risk we allow in the search as a function of a given budget of failures. Empirical validation shows that our algorithm uses the failures budget more efficiently in a variety of optimization experiments, and generally achieves lower regret, than state-of-the-art methods. In addition, we propose an original algorithm for unconstrained Bayesian optimization inspired by the notion of excursion sets in stochastic processes, upon which the failures-aware algorithm is built.

am ics

arXiv code (python) PDF [BibTex]

am ics Marco, A., Rohr, A. V., Baumann, D., Hernández-Lobato, J. M., Trimpe, S. Excursion Search for Constrained Bayesian Optimization under a Limited Budget of Failures 2020 (proceedings) In revision

arXiv code (python) PDF [BibTex]

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)

link (url) [BibTex]

ev Usenko, V., Stumberg, L. V., Stückler, J., Cremers, D. TUM Flyers: Vision-Based MAV Navigation for Systematic Inspection of Structures 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)

link (url) [BibTex]

Developing new methods for routing and optimal transport on networks

Lonardi, A.

Università degli studi di Padova, 2020 (mastersthesis)

pio

pdf [BibTex]

pio Lonardi, A. Developing new methods for routing and optimal transport on networks Università degli studi di Padova, 2020 (mastersthesis)

pdf [BibTex]

Edge-Disjoint Path Problem on Stochastic Block Models through Message Passing

Lorenzo Ferretti

Sapienza Università di Roma, 2020 (mastersthesis)

pio

[BibTex]

pio Lorenzo Ferretti Edge-Disjoint Path Problem on Stochastic Block Models through Message Passing Sapienza Università di Roma, 2020 (mastersthesis)

[BibTex]

Adopting the Boundary Homogenization Approximation from Chemical Kinetics to Motile Chemically Active Particles

Popescu, M. N., Uspal, W. E.

In Chemical Kinetics, pages: 517-540, (Editors: Lindenberg, Katja and Metzler, Ralf and Oshanin, Gleb), World Scientific, New Jersey, NJ, 2020 (incollection)

icm

DOI [BibTex]

icm Popescu, M. N., Uspal, W. E. Adopting the Boundary Homogenization Approximation from Chemical Kinetics to Motile Chemically Active Particles In Chemical Kinetics, pages: 517-540, (Editors: Lindenberg, Katja and Metzler, Ralf and Oshanin, Gleb), World Scientific, New Jersey, NJ, 2020 (incollection)

DOI [BibTex]

Colloidal particles supporting urase activity

Baldauf, A.

Univ. of Stuttgart, 2020 (mastersthesis)

[BibTex]

pf Baldauf, A. Colloidal particles supporting urase activity Univ. of Stuttgart, 2020 (mastersthesis)

[BibTex]

Soft Microrobots Based on Photoresponsive Materials

Palagi, S.

In Mechanically Responsive Materials for Soft Robotics, pages: 327-362, (Editors: Koshima, Hideko), Wiley-VCH, Weinheim, 2020 (incollection)

DOI [BibTex]

pf Palagi, S. Soft Microrobots Based on Photoresponsive Materials In Mechanically Responsive Materials for Soft Robotics, pages: 327-362, (Editors: Koshima, Hideko), Wiley-VCH, Weinheim, 2020 (incollection)

DOI [BibTex]