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2013


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The Randomized Dependence Coefficient

Lopez-Paz, D., Hennig, P., Schölkopf, B.

In Advances in Neural Information Processing Systems 26, pages: 1-9, (Editors: C.J.C. Burges, L. Bottou, M. Welling, Z. Ghahramani, and K.Q. Weinberger), 27th Annual Conference on Neural Information Processing Systems (NIPS), 2013 (inproceedings)

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PDF [BibTex]

2013


PDF [BibTex]


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Fast Probabilistic Optimization from Noisy Gradients

Hennig, P.

In Proceedings of The 30th International Conference on Machine Learning, JMLR W&CP 28(1), pages: 62–70, (Editors: S Dasgupta and D McAllester), ICML, 2013 (inproceedings)

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PDF [BibTex]

PDF [BibTex]


Nonparametric dynamics estimation for time periodic systems
Nonparametric dynamics estimation for time periodic systems

Klenske, E., Zeilinger, M., Schölkopf, B., Hennig, P.

In Proceedings of the 51st Annual Allerton Conference on Communication, Control, and Computing, pages: 486-493 , 2013 (inproceedings)

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PDF DOI [BibTex]

PDF DOI [BibTex]


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Analytical probabilistic proton dose calculation and range uncertainties

Bangert, M., Hennig, P., Oelfke, U.

In 17th International Conference on the Use of Computers in Radiation Therapy, pages: 6-11, (Editors: A. Haworth and T. Kron), ICCR, 2013 (inproceedings)

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[BibTex]

[BibTex]


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AGILITY – Dynamic Full Body Locomotion and Manipulation with Autonomous Legged Robots

Hutter, M., Bloesch, M., Buchli, J., Semini, C., Bazeille, S., Righetti, L., Bohg, J.

In 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages: 1-4, IEEE, Linköping, Sweden, 2013 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Controllability and Resource-Rational Planning

Lieder, F., Goodman, N. D., Huys, Q. J.

In Computational and Systems Neuroscience (Cosyne), pages: 112, 2013 (inproceedings)

Abstract
Learned helplessness experiments involving controllable vs. uncontrollable stressors have shown that the perceived ability to control events has profound consequences for decision making. Normative models of decision making, however, do not naturally incorporate knowledge about controllability, and previous approaches to incorporating it have led to solutions with biologically implausible computational demands [1,2]. Intuitively, controllability bounds the differential rewards for choosing one strategy over another, and therefore believing that the environment is uncontrollable should reduce one’s willingness to invest time and effort into choosing between options. Here, we offer a normative, resource-rational account of the role of controllability in trading mental effort for expected gain. In this view, the brain not only faces the task of solving Markov decision problems (MDPs), but it also has to optimally allocate its finite computational resources to solve them efficiently. This joint problem can itself be cast as a MDP [3], and its optimal solution respects computational constraints by design. We start with an analytic characterisation of the influence of controllability on the use of computational resources. We then replicate previous results on the effects of controllability on the differential value of exploration vs. exploitation, showing that these are also seen in a cognitively plausible regime of computational complexity. Third, we find that controllability makes computation valuable, so that it is worth investing more mental effort the higher the subjective controllability. Fourth, we show that in this model the perceived lack of control (helplessness) replicates empirical findings [4] whereby patients with major depressive disorder are less likely to repeat a choice that led to a reward, or to avoid a choice that led to a loss. Finally, the model makes empirically testable predictions about the relationship between reaction time and helplessness.

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[BibTex]

[BibTex]


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Efficient Dense 3D Rigid-Body Motion Segmentation in RGB-D Video

Stueckler, J., Behnke, S.

In Proc. of the British Machine Vision Conference (BMVC), 2013 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Mobile bin picking with an anthropomorphic service robot

Nieuwenhuisen, M., Droeschel, D., Holz, D., Stueckler, J., Berner, A., Li, J., Klein, R., Behnke, S.

In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages: 2327-2334, May 2013 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Learned helplessness and generalization

Lieder, F., Goodman, N. D., Huys, Q. J. M.

In 35th Annual Conference of the Cognitive Science Society, 2013 (inproceedings)

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[BibTex]

[BibTex]


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Learning Objective Functions for Manipulation

Kalakrishnan, M., Pastor, P., Righetti, L., Schaal, S.

In 2013 IEEE International Conference on Robotics and Automation, IEEE, Karlsruhe, Germany, 2013 (inproceedings)

Abstract
We present an approach to learning objective functions for robotic manipulation based on inverse reinforcement learning. Our path integral inverse reinforcement learning algorithm can deal with high-dimensional continuous state-action spaces, and only requires local optimality of demonstrated trajectories. We use L 1 regularization in order to achieve feature selection, and propose an efficient algorithm to minimize the resulting convex objective function. We demonstrate our approach by applying it to two core problems in robotic manipulation. First, we learn a cost function for redundancy resolution in inverse kinematics. Second, we use our method to learn a cost function over trajectories, which is then used in optimization-based motion planning for grasping and manipulation tasks. Experimental results show that our method outperforms previous algorithms in high-dimensional settings.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Angular Motion Control Using a Closed-Loop CPG for a Water-Running Robot

Thatte, N., Khoramshahi, M., Ijspeert, A., Sitti, M.

In Dynamic Walking 2013, (EPFL-CONF-199763), 2013 (inproceedings)

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[BibTex]

[BibTex]


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Light-induced microbubble poration of localized cells

Fan, Qihui, Hu, Wenqi, Ohta, Aaron T

In Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE, pages: 4482-4485, 2013 (inproceedings)

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[BibTex]

[BibTex]


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Multi-resolution surfel mapping and real-time pose tracking using a continuously rotating 2D laser scanner

Schadler, M., Stueckler, J., Behnke, S.

In Proc. of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages: 1-6, October 2013 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Joint detection and pose tracking of multi-resolution surfel models in RGB-D

McElhone, M., Stueckler, J., Behnke, S.

In Proc. of the European Conference on Mobile Robots (ECMR), pages: 131-137, IEEE, 2013 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Reverse-Engineering Resource-Efficient Algorithms

Lieder, F., Goodman, N. D., Griffiths, T. L.

In NIPS Workshop Resource-Efficient Machine Learning, 2013 (inproceedings)

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[BibTex]

[BibTex]


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A hybrid topological and structural optimization method to design a 3-DOF planar motion compliant mechanism

Lum, G. Z., Teo, T. J., Yang, G., Yeo, S. H., Sitti, M.

In Advanced Intelligent Mechatronics (AIM), 2013 IEEE/ASME International Conference on, pages: 247-254, 2013 (inproceedings)

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[BibTex]

[BibTex]


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SoftCubes: towards a soft modular matter

Yim, S., Sitti, M.

In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages: 530-536, 2013 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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Bubble-driven light-absorbing hydrogel microrobot for the assembly of bio-objects

Hu, W., Fan, Q., Tonaki, W., Ohta, A. T.

In Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE, pages: 5303-5306, 2013 (inproceedings)

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[BibTex]

[BibTex]


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Assembly of cell-laden microgels by an optically controlled bubble manipulator

Hu, W., Fan, Q., Ohta, A.

In International Conference on Miniaturized Systems for Chemistry and Life Sciences, Freiburg, Germany, 2013 (inproceedings)

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[BibTex]

[BibTex]


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Distinctive 3D surface entropy features for place recognition.

Fiolka, T., Stueckler, J., Klein, D. A., Schulz, D., Behnke, S.

In Proc. of the European Conference on Mobile Robots (ECMR), pages: 204-209, IEEE, 2013 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Flapping wings via direct-driving by DC motors

Azhar, M., Campolo, D., Lau, G., Hines, L., Sitti, M.

In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages: 1397-1402, 2013 (inproceedings)

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[BibTex]

[BibTex]


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Three dimensional independent control of multiple magnetic microrobots

Diller, E., Giltinan, J., Jena, P., Sitti, M.

In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages: 2576-2581, 2013 (inproceedings)

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[BibTex]

[BibTex]


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A reconfigurable, liquid-metal-based low-pass filter with reversible tuning

Tonaki, W. G., Hu, W., Ohta, A. T., Shiroma, W. A.

In Wireless Symposium (IWS), 2013 IEEE International, pages: 1-3, 2013 (inproceedings)

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[BibTex]

[BibTex]


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Combining contour and shape primitives for object detection and pose estimation of prefabricated parts

Berner, A., Li, J., Holz, D., Stueckler, J., Behnke, S., Klein, R.

In Proc. of the 20th IEEE International Conference on Image Processing (ICIP), pages: 3326-3330, sep 2013 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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A Perching Mechanism for Flying Robots Using a Fibre-Based Adhesive

Daler, L., Klaptocz, A., Briod, A., Sitti, M., Floreano, D.

In Robotics and Automation (ICRA), 2013 IEEE International Conference on, 2013 (inproceedings)

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[BibTex]

[BibTex]


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Bonding methods for modular micro-robotic assemblies

Diller, E., Zhang, N., Sitti, M.

In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages: 2588-2593, 2013 (inproceedings)

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[BibTex]

[BibTex]


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Hierarchical Object Discovery and Dense Modelling From Motion Cues in RGB-D Video

Stueckler, J., Behnke, S.

In Proc. of the 23rd International Joint Conference on Artificial Intelligence (IJCAI), IJCAI/AAAI, 2013 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Learning Task Error Models for Manipulation

Pastor, P., Kalakrishnan, M., Binney, J., Kelly, J., Righetti, L., Sukhatme, G. S., Schaal, S.

In 2013 IEEE Conference on Robotics and Automation, IEEE, Karlsruhe, Germany, 2013 (inproceedings)

Abstract
Precise kinematic forward models are important for robots to successfully perform dexterous grasping and manipulation tasks, especially when visual servoing is rendered infeasible due to occlusions. A lot of research has been conducted to estimate geometric and non-geometric parameters of kinematic chains to minimize reconstruction errors. However, kinematic chains can include non-linearities, e.g. due to cable stretch and motor-side encoders, that result in significantly different errors for different parts of the state space. Previous work either does not consider such non-linearities or proposes to estimate non-geometric parameters of carefully engineered models that are robot specific. We propose a data-driven approach that learns task error models that account for such unmodeled non-linearities. We argue that in the context of grasping and manipulation, it is sufficient to achieve high accuracy in the task relevant state space. We identify this relevant state space using previously executed joint configurations and learn error corrections for those. Therefore, our system is developed to generate subsequent executions that are similar to previous ones. The experiments show that our method successfully captures the non-linearities in the head kinematic chain (due to a counterbalancing spring) and the arm kinematic chains (due to cable stretch) of the considered experimental platform, see Fig. 1. The feasibility of the presented error learning approach has also been evaluated in independent DARPA ARM-S testing contributing to successfully complete 67 out of 72 grasping and manipulation tasks.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]

2007


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Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Degallier, S., Righetti, L., Ijspeert, A.

In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 2047-2052, IEEE, San Diego, USA, 2007 (inproceedings)

Abstract
Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to sensory-motor feedbacks, in particular to properly place feet on specific locations, are thus needed. Dynamical systems are well suited for this task as any online modification of the parameters leads to a smooth adaptation of the trajectories, allowing a safe integration of sensory-motor feedback. In this contribution, as a first step in the direction of locomotion on irregular surfaces, we present a controller that allows hand placement during crawling in a simulated humanoid robot. The goal of the controller is to superimpose rhythmic movements for crawling with discrete (i.e. short-term) modulations of the hand placements to reach specific marks on the ground.

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link (url) DOI [BibTex]

2007


link (url) DOI [BibTex]


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A strategy for vision-based controlled pushing of microparticles

Lynch, N. A., Onal, C., Schuster, E., Sitti, M.

In Robotics and Automation, 2007 IEEE International Conference on, pages: 1413-1418, 2007 (inproceedings)

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[BibTex]

[BibTex]


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Lower body realization of the baby humanoid - ‘iCub’

Tsagarakis, N., Becchi, F., Righetti, L., Ijspeert, A., Caldwell, D.

In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 3616-3622, IEEE, San Diego, USA, 2007 (inproceedings)

Abstract
Nowadays, the understanding of the human cognition and it application to robotic systems forms a great challenge of research. The iCub is a robotic platform that was developed within the RobotCub European project to provide the cognition research community with an open baby- humanoid platform for understanding and development of cognitive systems. In this paper we present the design requirements and mechanical realization of the lower body developed for the "iCub". In particular the leg and the waist mechanisms adopted for lower body to match the size and physical abilities of a 2 frac12 year old human baby are introduced.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Autonomous 2D microparticle manipulation based on visual feedback

Onal, C. D., Sitti, M.

In Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on, pages: 1-6, 2007 (inproceedings)

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[BibTex]

[BibTex]


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STRIDE: A highly maneuverable and non-tethered water strider robot

Song, Y. S., Sitti, M.

In Robotics and Automation, 2007 IEEE International Conference on, pages: 980-984, 2007 (inproceedings)

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[BibTex]

[BibTex]


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Dry spinning polymeric nano/microfiber arrays using glass micropipettes with controlled porosities and fiber diameters

Nain, A. S., Gupta, A., Amon, C., Sitti, M.

In Nanotechnology, 2007. IEEE-NANO 2007. 7th IEEE Conference on, pages: 728-732, 2007 (inproceedings)

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[BibTex]

[BibTex]


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Microrobotically fabricated biological scaffolds for tissue engineering

Nain, A. S., Chung, F., Rule, M., Jadlowiec, J. A., Campbell, P. G., Amon, C., Sitti, M.

In Robotics and Automation, 2007 IEEE International Conference on, pages: 1918-1923, 2007 (inproceedings)

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[BibTex]

[BibTex]


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Bacterial flagella assisted propulsion of patterned latex particles: Effect of particle size

Behkam, B., Sitti, M.

In Nanotechnology, 2007. IEEE-NANO 2007. 7th IEEE Conference on, pages: 723-727, 2007 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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A scaled bilateral control system for experimental 1-D teleoperated nanomanipulation applications

Onal, C. D., Pawashe, C., Sitti, M.

In Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, pages: 483-488, 2007 (inproceedings)

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[BibTex]

[BibTex]


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Hierarchical reactive control for a team of humanoid soccer robots

Behnke, S., Stueckler, J., Schreiber, M., Schulz, H., Böhnert, M., Meier, K.

In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 622-629, November 2007 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]

2004


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Operating system support for interface virtualisation of reconfigurable coprocessors

Vuletic, M., Righetti, L., Pozzi, L., Ienne, P.

In In Proceedings of the Design, Automation and Test in Europe Conference and Exhibition, pages: 748-749, IEEE, Paris, France, 2004 (inproceedings)

Abstract
Reconfigurable systems-on-chip (SoC) consist of large field programmable gate arrays (FPGAs) and standard processors. The reconfigurable logic can be used for application-specific coprocessors to speedup execution of applications. The widespread use is limited by the complexity of interfacing software applications with coprocessors. We present a virtualization layer that lowers the interfacing complexity and improves the portability. The layer shifts the burden of moving data between processor and coprocessor from the programmer to the operating system (OS). A reconfigurable SoC running Linux is used to prove the concept.

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link (url) DOI [BibTex]

2004


link (url) DOI [BibTex]


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E. coli inspired propulsion for swimming microrobots

Behkam, B., Sitti, M.

In ASME 2004 International Mechanical Engineering Congress and Exposition, pages: 1037-1041, 2004 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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Dynamic modes of nanoparticle motion during nanoprobe-based manipulation

Tafazzoli, A., Sitti, M.

In Nanotechnology, 2004. 4th IEEE Conference on, pages: 35-37, 2004 (inproceedings)

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[BibTex]

[BibTex]


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Modeling and design of biomimetic adhesives inspired by gecko foot-hairs

Shah, G. J., Sitti, M.

In Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on, pages: 873-878, 2004 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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Augmented reality user interface for nanomanipulation using atomic force microscopes

Vogl, W., Sitti, M., Ehrenstrasser, M., Zäh, M.

In Proc. of Eurohaptics, pages: 413-416, 2004 (inproceedings)

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[BibTex]

[BibTex]


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WaalBots for Space applications

Menon, C., Murphy, M., Angrilli, F., Sitti, M.

In 55th IAC Conference, Vancouver, Canada, 2004 (inproceedings)

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[BibTex]

[BibTex]


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Dynamic behavior and simulation of nanoparticle sliding during nanoprobe-based positioning

Tafazzoli, A., Sitti, M.

In Proc. ASME International Mechanical Engineering Conference, 19, pages: 32, 2004 (inproceedings)

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[BibTex]

[BibTex]


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Three-dimensional nanoscale manipulation and manufacturing using proximal probes: controlled pulling of polymer micro/nanofibers

Nain, A. S., Amon, C., Sitti, M.

In Mechatronics, 2004. ICM’04. Proceedings of the IEEE International Conference on, pages: 224-230, 2004 (inproceedings)

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[BibTex]

[BibTex]


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Micro-and nano-scale robotics

Sitti, M.

In American Control Conference, 2004. Proceedings of the 2004, 1, pages: 1-8, 2004 (inproceedings)

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[BibTex]

[BibTex]


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Gecko inspired surface climbing robots

Menon, C., Murphy, M., Sitti, M.

In Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on, pages: 431-436, 2004 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]