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2018


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Kernel Recursive ABC: Point Estimation with Intractable Likelihood

Kajihara, T., Kanagawa, M., Yamazaki, K., Fukumizu, K.

Proceedings of the 35th International Conference on Machine Learning, pages: 2405-2414, PMLR, July 2018 (conference)

Abstract
We propose a novel approach to parameter estimation for simulator-based statistical models with intractable likelihood. Our proposed method involves recursive application of kernel ABC and kernel herding to the same observed data. We provide a theoretical explanation regarding why the approach works, showing (for the population setting) that, under a certain assumption, point estimates obtained with this method converge to the true parameter, as recursion proceeds. We have conducted a variety of numerical experiments, including parameter estimation for a real-world pedestrian flow simulator, and show that in most cases our method outperforms existing approaches.

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Paper [BibTex]

2018


Paper [BibTex]


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Enhanced Non-Steady Gliding Performance of the MultiMo-Bat through Optimal Airfoil Configuration and Control Strategy

Kim, H., Woodward, M. A., Sitti, M.

In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages: 1382-1388, 2018 (inproceedings)

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[BibTex]

[BibTex]


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Dissecting Adam: The Sign, Magnitude and Variance of Stochastic Gradients

Balles, L., Hennig, P.

In Proceedings of the 35th International Conference on Machine Learning (ICML), 2018 (inproceedings) Accepted

Abstract
The ADAM optimizer is exceedingly popular in the deep learning community. Often it works very well, sometimes it doesn't. Why? We interpret ADAM as a combination of two aspects: for each weight, the update direction is determined by the sign of stochastic gradients, whereas the update magnitude is determined by an estimate of their relative variance. We disentangle these two aspects and analyze them in isolation, gaining insight into the mechanisms underlying ADAM. This analysis also extends recent results on adverse effects of ADAM on generalization, isolating the sign aspect as the problematic one. Transferring the variance adaptation to SGD gives rise to a novel method, completing the practitioner's toolbox for problems where ADAM fails.

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link (url) Project Page [BibTex]

link (url) Project Page [BibTex]


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Collectives of Spinning Mobile Microrobots for Navigation and Object Manipulation at the Air-Water Interface

Wang, W., Kishore, V., Koens, L., Lauga, E., Sitti, M.

In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages: 1-9, 2018 (inproceedings)

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[BibTex]

[BibTex]


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Endo-VMFuseNet: A Deep Visual-Magnetic Sensor Fusion Approach for Endoscopic Capsule Robots

Turan, M., Almalioglu, Y., Gilbert, H. B., Sari, A. E., Soylu, U., Sitti, M.

In 2018 IEEE International Conference on Robotics and Automation (ICRA), pages: 1-7, 2018 (inproceedings)

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[BibTex]

[BibTex]


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Probabilistic Approaches to Stochastic Optimization

Mahsereci, M.

Eberhard Karls Universität Tübingen, Germany, 2018 (phdthesis)

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link (url) Project Page [BibTex]

link (url) Project Page [BibTex]


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Endosensorfusion: Particle filtering-based multi-sensory data fusion with switching state-space model for endoscopic capsule robots

Turan, M., Almalioglu, Y., Gilbert, H., Araujo, H., Cemgil, T., Sitti, M.

In 2018 IEEE International Conference on Robotics and Automation (ICRA), pages: 1-8, 2018 (inproceedings)

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[BibTex]

[BibTex]


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Probabilistic Ordinary Differential Equation Solvers — Theory and Applications

Schober, M.

Eberhard Karls Universität Tübingen, Germany, 2018 (phdthesis)

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[BibTex]

[BibTex]

1999


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Tele-touch feedback of surfaces at the micro/nano scale: Modeling and experiments

Sitti, M., Horighuchi, S., Hashimoto, H.

In Intelligent Robots and Systems, 1999. IROS’99. Proceedings. 1999 IEEE/RSJ International Conference on, 2, pages: 882-888, 1999 (inproceedings)

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[BibTex]

1999


[BibTex]


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Challenge to micro/nanomanipulation using atomic force microscope

Hashimoto, H., Sitti, M.

In Micromechatronics and Human Science, 1999. MHS’99. Proceedings of 1999 International Symposium on, pages: 35-42, 1999 (inproceedings)

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[BibTex]

[BibTex]


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Visualization interface for AFM-based nano-manipulation

Horiguchi, S., Sitti, M., Hashimoto, H.

In Industrial Electronics, 1999. ISIE’99. Proceedings of the IEEE International Symposium on, 1, pages: 310-315, 1999 (inproceedings)

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[BibTex]

[BibTex]


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Tele-nanorobotics 2-d manipulation of micro/nanoparticles using afm

Sitti, M., Horiguchi, S., Hashimoto, H.

In Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on, pages: 786-786, 1999 (inproceedings)

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[BibTex]

[BibTex]


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Two-dimensional fine particle positioning using a piezoresistive cantilever as a micro/nano-manipulator

Sitti, M., Hashimoto, H.

In Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, 4, pages: 2729-2735, 1999 (inproceedings)

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[BibTex]

[BibTex]

1998


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Nano tele-manipulation using virtual reality interface

Sitti, M., Horiguchi, S., Hashimoto, H.

In Industrial Electronics, 1998. Proceedings. ISIE’98. IEEE International Symposium on, 1, pages: 171-176, 1998 (inproceedings)

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[BibTex]

1998


[BibTex]


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Tele-nanorobotics using atomic force microscope

Sitti, M., Hashimoto, H.

In Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on, 3, pages: 1739-1746, 1998 (inproceedings)

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[BibTex]

[BibTex]


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2D micro particle assembly using atomic force microscope

Sitti, M., Hirahara, K., Hashimoto, H.

In Micromechatronics and Human Science, 1998. MHS’98. Proceedings of the 1998 International Symposium on, pages: 143-148, 1998 (inproceedings)

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[BibTex]

[BibTex]


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Macro to nano tele-manipulation through nanoelectromechanical systems

Sitti, M., Hashimoto, H.

In Industrial Electronics Society, 1998. IECON’98. Proceedings of the 24th Annual Conference of the IEEE, 1, pages: 98-103, 1998 (inproceedings)

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[BibTex]

[BibTex]

1995


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Visual tracking for moving multiple objects: an integration of vision and control

Sitti, M, Bozma, I, Denker, A

In Industrial Electronics, 1995. ISIE’95., Proceedings of the IEEE International Symposium on, 2, pages: 535-540, 1995 (inproceedings)

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[BibTex]

1995


[BibTex]