Header logo is


2020


Chained Representation Cycling: Learning to Estimate 3D Human Pose and Shape by Cycling Between Representations
Chained Representation Cycling: Learning to Estimate 3D Human Pose and Shape by Cycling Between Representations

Rueegg, N., Lassner, C., Black, M. J., Schindler, K.

In Thirty-Fourth AAAI Conference on Artificial Intelligence (AAAI-20), Febuary 2020 (inproceedings)

Abstract
The goal of many computer vision systems is to transform image pixels into 3D representations. Recent popular models use neural networks to regress directly from pixels to 3D object parameters. Such an approach works well when supervision is available, but in problems like human pose and shape estimation, it is difficult to obtain natural images with 3D ground truth. To go one step further, we propose a new architecture that facilitates unsupervised, or lightly supervised, learning. The idea is to break the problem into a series of transformations between increasingly abstract representations. Each step involves a cycle designed to be learnable without annotated training data, and the chain of cycles delivers the final solution. Specifically, we use 2D body part segments as an intermediate representation that contains enough information to be lifted to 3D, and at the same time is simple enough to be learned in an unsupervised way. We demonstrate the method by learning 3D human pose and shape from un-paired and un-annotated images. We also explore varying amounts of paired data and show that cycling greatly alleviates the need for paired data. While we present results for modeling humans, our formulation is general and can be applied to other vision problems.

ps

pdf [BibTex]

2020


pdf [BibTex]


no image
Sliding Mode Control with Gaussian Process Regression for Underwater Robots

Lima, G. S., Trimpe, S., Bessa, W. M.

Journal of Intelligent & Robotic Systems, January 2020 (article)

ics

DOI [BibTex]

DOI [BibTex]


Hierarchical Event-triggered Learning for Cyclically Excited Systems with Application to Wireless Sensor Networks
Hierarchical Event-triggered Learning for Cyclically Excited Systems with Application to Wireless Sensor Networks

Beuchert, J., Solowjow, F., Raisch, J., Trimpe, S., Seel, T.

IEEE Control Systems Letters, 4(1):103-108, January 2020 (article)

ics

arXiv PDF DOI Project Page [BibTex]

arXiv PDF DOI Project Page [BibTex]


Learning Multi-Human Optical Flow
Learning Multi-Human Optical Flow

Ranjan, A., Hoffmann, D. T., Tzionas, D., Tang, S., Romero, J., Black, M. J.

International Journal of Computer Vision (IJCV), January 2020 (article)

Abstract
The optical flow of humans is well known to be useful for the analysis of human action. Recent optical flow methods focus on training deep networks to approach the problem. However, the training data used by them does not cover the domain of human motion. Therefore, we develop a dataset of multi-human optical flow and train optical flow networks on this dataset. We use a 3D model of the human body and motion capture data to synthesize realistic flow fields in both single-and multi-person images. We then train optical flow networks to estimate human flow fields from pairs of images. We demonstrate that our trained networks are more accurate than a wide range of top methods on held-out test data and that they can generalize well to real image sequences. The code, trained models and the dataset are available for research.

ps

Paper Publisher Version poster link (url) DOI [BibTex]


Control-guided Communication: Efficient Resource Arbitration and Allocation in Multi-hop Wireless Control Systems
Control-guided Communication: Efficient Resource Arbitration and Allocation in Multi-hop Wireless Control Systems

Baumann, D., Mager, F., Zimmerling, M., Trimpe, S.

IEEE Control Systems Letters, 4(1):127-132, January 2020 (article)

ics

arXiv PDF DOI [BibTex]

arXiv PDF DOI [BibTex]


Spatial Scheduling of Informative Meetings for Multi-Agent Persistent Coverage
Spatial Scheduling of Informative Meetings for Multi-Agent Persistent Coverage

Haksar, R. N., Trimpe, S., Schwager, M.

IEEE Robotics and Automation Letters, 2020 (article) Accepted

ics

[BibTex]

[BibTex]


Safe and Fast Tracking Control on a Robot Manipulator: Robust MPC and Neural Network Control
Safe and Fast Tracking Control on a Robot Manipulator: Robust MPC and Neural Network Control

Nubert, J., Koehler, J., Berenz, V., Allgower, F., Trimpe, S.

IEEE Robotics and Automation Letters, 2020 (article) Accepted

am ics

arXiv PDF [BibTex]

arXiv PDF [BibTex]

2003


no image
Synthetic gecko foot-hair micro/nano-structures as dry adhesives

Sitti, M., Fearing, R. S.

Journal of adhesion science and technology, 17(8):1055-1073, Taylor & Francis Group, 2003 (article)

pi

Project Page [BibTex]

2003


Project Page [BibTex]


no image
Teleoperated touch feedback from the surfaces at the nanoscale: modeling and experiments

Sitti, M., Hashimoto, H.

IEEE/ASME transactions on mechatronics, 8(2):287-298, IEEE, 2003 (article)

pi

[BibTex]

[BibTex]


no image
High aspect ratio polymer micro/nano-structure manufacturing using nanoembossing, nanomolding and directed self-assembly

Sitti, M.

In ASME 2003 International Mechanical Engineering Congress and Exposition, pages: 293-297, 2003 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Nsf workshop on future directions in nano-scale systems, dynamics and control

Sitti, M.

In Automatic Control Conference (ACC), 2003 (inproceedings)

pi

[BibTex]

[BibTex]


no image
3-D nano-fiber manufacturing by controlled pulling of liquid polymers using nano-probes

Nain, A. S., Sitti, M.

In Nanotechnology, 2003. IEEE-NANO 2003. 2003 Third IEEE Conference on, 1, pages: 60-63, 2003 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Scaled teleoperation system for nano-scale interaction and manipulation

Sitti, M., Aruk, B., Shintani, H., Hashimoto, H.

Advanced Robotics, 17(3):275-291, Taylor & Francis Group, 2003 (article)

pi

[BibTex]

[BibTex]


no image
Manufacturing of two and three-dimensional micro/nanostructures by integrating optical tweezers with chemical assembly

Castelino, K., Satyanarayana, S., Sitti, M.

In Nanotechnology, 2003. IEEE-NANO 2003. 2003 Third IEEE Conference on, 1, pages: 56-59, 2003 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Atomic force microscope probe based controlled pushing for nano-tribological characterization

Sitti, M.

IEEE/ASME Transactions on Mechatronics, 8(3), 2003 (article)

pi

[BibTex]


no image
Evolution of Fault-tolerant Self-replicating Structures

Righetti, L., Shokur, S., Capcarre, M.

In Advances in Artificial Life, pages: 278-288, Lecture Notes in Computer Science, Springer Berlin Heidelberg, 2003 (inproceedings)

Abstract
Designed and evolved self-replicating structures in cellular automata have been extensively studied in the past as models of Artificial Life. However, CAs, unlike their biological counterpart, are very brittle: any faulty cell usually leads to the complete destruction of any emerging structures, let alone self-replicating structures. A way to design fault-tolerant structures based on error-correcting-code has been presented recently [1], but it required a cumbersome work to be put into practice. In this paper, we get back to the original inspiration for these works, nature, and propose a way to evolve self-replicating structures, faults here being only an idiosyncracy of the environment.

mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]


no image
Efficient charge recovery method for driving piezoelectric actuators with quasi-square waves

Campolo, D., Sitti, M., Fearing, R. S.

IEEE transactions on ultrasonics, ferroelectrics, and frequency control, 50(3):237-244, IEEE, 2003 (article)

pi

[BibTex]

[BibTex]


no image
Synthetic gecko foot-hair micro/nano-structures for future wall-climbing robots

Sitti, M., Fearing, R. S.

In Robotics and Automation, 2003. Proceedings. ICRA’03. IEEE International Conference on, 1, pages: 1164-1170, 2003 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Piezoelectrically actuated four-bar mechanism with two flexible links for micromechanical flying insect thorax

Sitti, M.

IEEE/ASME transactions on mechatronics, 8(1):26-36, IEEE, 2003 (article)

pi

[BibTex]


no image
Biomimetic propulsion for a swimming surgical micro-robot

Edd, J., Payen, S., Rubinsky, B., Stoller, M. L., Sitti, M.

In Intelligent Robots and Systems, 2003.(IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on, 3, pages: 2583-2588, 2003 (inproceedings)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
In vivo diabetic wound healing with nanofibrous scaffolds modified with gentamicin and recombinant human epidermal growth factor

Dwivedi, C., Pandey, I., Pandey, H., Patil, S., Mishra, S. B., Pandey, A. C., Zamboni, P., Ramteke, P. W., Singh, A. V.

Journal of Biomedical Materials Research Part A, 106(3):641-651, March (article)

Abstract
Abstract Diabetic wounds are susceptible to microbial infection. The treatment of these wounds requires a higher payload of growth factors. With this in mind, the strategy for this study was to utilize a novel payload comprising of Eudragit RL/RS 100 nanofibers carrying the bacterial inhibitor gentamicin sulfate (GS) in concert with recombinant human epidermal growth factor (rhEGF); an accelerator of wound healing. GS containing Eudragit was electrospun to yield nanofiber scaffolds, which were further modified by covalent immobilization of rhEGF to their surface. This novel fabricated nanoscaffold was characterized using scanning electron microscopy, Fourier transform infrared spectroscopy, and X‐ray diffraction. The thermal behavior of the nanoscaffold was determined using thermogravimetric analysis and differential scanning calorimetry. In the in vitro antibacterial assays, the nanoscaffolds exhibited comparable antibacterial activity to pure gentemicin powder. In vivo work using female C57/BL6 mice, the nanoscaffolds induced faster wound healing activity in dorsal wounds compared to the control. The paradigm in this study presents a robust in vivo model to enhance the applicability of drug delivery systems in wound healing applications. © 2017 Wiley Periodicals, Inc. J Biomed Mater Res Part A: 106A: 641–651, 2018.

pi

link (url) DOI [BibTex]


link (url) DOI [BibTex]


no image
Robotics Research

Tong, Chi Hay, Furgale, Paul, Barfoot, Timothy D, Guizilini, Vitor, Ramos, Fabio, Chen, Yushan, T\uumová, Jana, Ulusoy, Alphan, Belta, Calin, Tenorth, Moritz, others

(article)

pi

[BibTex]

[BibTex]