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2015


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The average number of distinct sites visited by a random walker on random graphs

De Bacco, C., Majumdar, S. N., Sollich, P.

Journal of Physics A: Mathematical and Theoretical, 48(20):205004, IOP Publishing, 2015 (article)

pio

Preprint link (url) [BibTex]

2015


Preprint link (url) [BibTex]


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The edge-disjoint path problem on random graphs by message-passing

Altarelli, F., Braunstein, A., Dall’Asta, L., De Bacco, C., Franz, S.

PloS one, 10(12):e0145222, Public Library of Science, 2015 (article)

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Code Preprint link (url) Project Page [BibTex]

Code Preprint link (url) Project Page [BibTex]


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Non-equilibrium statistical mechanics of the heat bath for two Brownian particles : Internal degrees of freedom found where there shouldn’t be (Special Issue on New Challenges in Complex Systems Science)

De Bacco, C., Baldovin, F., Orlandini, E.

理工研報告特集号 : ASTE : advances in science, technology and environmentology : special issue, 11, pages: 111-113, 早稲田大学理工学術院総合研究所 (理工学研究所), March 2015 (article)

pio

link (url) [BibTex]

link (url) [BibTex]


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Novel plasticity rule can explain the development of sensorimotor intelligence

Der, R., Martius, G.

Proceedings of the National Academy of Sciences, 112(45):E6224-E6232, 2015 (article)

Abstract
Grounding autonomous behavior in the nervous system is a fundamental challenge for neuroscience. In particular, self-organized behavioral development provides more questions than answers. Are there special functional units for curiosity, motivation, and creativity? This paper argues that these features can be grounded in synaptic plasticity itself, without requiring any higher-level constructs. We propose differential extrinsic plasticity (DEP) as a new synaptic rule for self-learning systems and apply it to a number of complex robotic systems as a test case. Without specifying any purpose or goal, seemingly purposeful and adaptive rhythmic behavior is developed, displaying a certain level of sensorimotor intelligence. These surprising results require no system-specific modifications of the DEP rule. They rather arise from the underlying mechanism of spontaneous symmetry breaking, which is due to the tight brain body environment coupling. The new synaptic rule is biologically plausible and would be an interesting target for neurobiological investigation. We also argue that this neuronal mechanism may have been a catalyst in natural evolution.

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link (url) DOI Project Page [BibTex]

link (url) DOI Project Page [BibTex]


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Decentralized network control, optimization and random walks on networks

De Bacco, C.

(2015PA112164), Université Paris Sud - Paris XI, sep 2015 (phdthesis)

pio

link (url) [BibTex]

link (url) [BibTex]


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Quantifying Emergent Behavior of Autonomous Robots

Martius, G., Olbrich, E.

Entropy, 17(10):7266, 2015 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]

2014


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Nonequilibrium statistical mechanics of the heat bath for two Brownian particles

De Bacco, C., Baldovin, F., Orlandini, E., Sekimoto, K.

Physical review letters, 112(18):180605, APS, 2014 (article)

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Preprint link (url) [BibTex]

2014


Preprint link (url) [BibTex]


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Shortest node-disjoint paths on random graphs

De Bacco, C., Franz, S., Saad, D., Yeung, C. H.

Journal of Statistical Mechanics: Theory and Experiment, 2014(7):P07009, IOP Publishing, 2014 (article)

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Preprint link (url) Project Page [BibTex]

Preprint link (url) Project Page [BibTex]


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Self-Exploration of the Stumpy Robot with Predictive Information Maximization

Martius, G., Jahn, L., Hauser, H., V. Hafner, V.

In Proc. From Animals to Animats, SAB 2014, 8575, pages: 32-42, LNCS, Springer, 2014 (inproceedings)

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[BibTex]

[BibTex]


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Robot Learning by Guided Self-Organization

Martius, G., Der, R., Herrmann, J. M.

In Guided Self-Organization: Inception, 9, pages: 223-260, Emergence, Complexity and Computation, Springer Berlin Heidelberg, 2014 (incollection)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]

2012


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Variants of guided self-organization for robot control

Martius, G., Herrmann, J.

Theory in Biosci., 131(3):129-137, Springer Berlin / Heidelberg, 2012 (article)

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link (url) DOI [BibTex]

2012


link (url) DOI [BibTex]


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The Playful Machine - Theoretical Foundation and Practical Realization of Self-Organizing Robots

Der, R., Martius, G.

Springer, Berlin Heidelberg, 2012 (book)

Abstract
Autonomous robots may become our closest companions in the near future. While the technology for physically building such machines is already available today, a problem lies in the generation of the behavior for such complex machines. Nature proposes a solution: young children and higher animals learn to master their complex brain-body systems by playing. Can this be an option for robots? How can a machine be playful? The book provides answers by developing a general principle---homeokinesis, the dynamical symbiosis between brain, body, and environment---that is shown to drive robots to self-determined, individual development in a playful and obviously embodiment-related way: a dog-like robot starts playing with a barrier, eventually jumping or climbing over it; a snakebot develops coiling and jumping modes; humanoids develop climbing behaviors when fallen into a pit, or engage in wrestling-like scenarios when encountering an opponent. The book also develops guided self-organization, a new method that helps to make the playful machines fit for fulfilling tasks in the real world.

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link (url) [BibTex]

2008


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Emergence of Interaction Among Adaptive Agents

Martius, G., Nolfi, S., Herrmann, J. M.

In Proc. From Animals to Animats 10 (SAB 2008), 5040, pages: 457-466, LNCS, Springer, 2008 (inproceedings)

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DOI [BibTex]

2008


DOI [BibTex]


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Structure from Behavior in Autonomous Agents

Martius, G., Fiedler, K., Herrmann, J.

In Proc. IEEE Intl. Conf. Intelligent Robots and Systems (IROS 2008), pages: 858 - 862, 2008 (inproceedings)

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DOI [BibTex]

DOI [BibTex]

2007


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Guided Self-organisation for Autonomous Robot Development

Martius, G., Herrmann, J. M., Der, R.

In Advances in Artificial Life 9th European Conference, ECAL 2007, 4648, pages: 766-775, LNCS, Springer, 2007 (inproceedings)

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[BibTex]

2007


[BibTex]

2006


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Let It Roll – Emerging Sensorimotor Coordination in a Spherical Robot

Der, R., Martius, G., Hesse, F.

In Proc, Artificial Life X, pages: 192-198, Intl. Society for Artificial Life, MIT Press, August 2006 (inproceedings)

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[BibTex]

2006


[BibTex]


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From Motor Babbling to Purposive Actions: Emerging Self-exploration in a Dynamical Systems Approach to Early Robot Development

Der, R., Martius, G.

In Proc. From Animals to Animats 9, SAB 2006, 4095, pages: 406-421, LNCS, Springer, 2006 (inproceedings)

Abstract
Self-organization and the phenomenon of emergence play an essential role in living systems and form a challenge to artificial life systems. This is not only because systems become more lifelike, but also since self-organization may help in reducing the design efforts in creating complex behavior systems. The present paper studies self-exploration based on a general approach to the self-organization of behavior, which has been developed and tested in various examples in recent years. This is a step towards autonomous early robot development. We consider agents under the close sensorimotor coupling paradigm with a certain cognitive ability realized by an internal forward model. Starting from tabula rasa initial conditions we overcome the bootstrapping problem and show emerging self-exploration. Apart from that, we analyze the effect of limited actions, which lead to deprivation of the world model. We show that our paradigm explicitly avoids this by producing purposive actions in a natural way. Examples are given using a simulated simple wheeled robot and a spherical robot driven by shifting internal masses.

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[BibTex]

[BibTex]


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Rocking Stamper and Jumping Snake from a Dynamical System Approach to Artificial Life

Der, R., Hesse, F., Martius, G.

Adaptive Behavior, 14(2):105-115, 2006 (article)

Abstract
Dynamical systems offer intriguing possibilities as a substrate for the generation of behavior because of their rich behavioral complexity. However this complexity together with the largely covert relation between the parameters and the behavior of the agent is also the main hindrance in the goal-oriented design of a behavior system. This paper presents a general approach to the self-regulation of dynamical systems so that the design problem is circumvented. We consider the controller (a neural net work) as the mediator for changes in the sensor values over time and define a dynamics for the parameters of the controller by maximizing the dynamical complexity of the sensorimotor loop under the condition that the consequences of the actions taken are still predictable. This very general principle is given a concrete mathematical formulation and is implemented in an extremely robust and versatile algorithm for the parameter dynamics of the controller. We consider two different applications, a mechanical device called the rocking stamper and the ODE simulations of a "snake" with five degrees of freedom. In these and many other examples studied we observed various behavior modes of high dynamical complexity.

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DOI [BibTex]

DOI [BibTex]


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Deep Graph Matching via Blackbox Differentiation of Combinatorial Solvers

Rolinek, M., Swoboda, P., Zietlow, D., Paulus, A., Musil, V., Martius, G.

Arxiv (article)

Abstract
Building on recent progress at the intersection of combinatorial optimization and deep learning, we propose an end-to-end trainable architecture for deep graph matching that contains unmodified combinatorial solvers. Using the presence of heavily optimized combinatorial solvers together with some improvements in architecture design, we advance state-of-the-art on deep graph matching benchmarks for keypoint correspondence. In addition, we highlight the conceptual advantages of incorporating solvers into deep learning architectures, such as the possibility of post-processing with a strong multi-graph matching solver or the indifference to changes in the training setting. Finally, we propose two new challenging experimental setups

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Arxiv [BibTex]