Publications

Empirical Inference Conference Paper Temporally Consistent Object-Centric Learning by Contrasting Slots Manasyan, A., Seitzer, M., Radovic, F., Martius, G., Zadaianchuk, A. In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), June 2025, Accepted (Accepted) BibTeX

Empirical Inference Perceiving Systems Conference Paper ChatHuman: Chatting about 3D Humans with Tools Lin, J., Feng, Y., Liu, W., Black, M. J. In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), June 2025, Accepted (Accepted) project pdf Paper BibTeX

Empirical Inference Conference Paper VERA: Explainable Video Anomaly Detection via Verbalized Learning of Vision-Language Models Ye, M., Liu, W., Pan, H. In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), June 2025, Accepted (Accepted) BibTeX

Empirical Inference Conference Paper Nonparametric Teaching for Multiple Learners Zhang, C., Cao, X., Liu, W., Tsang, I. W., Kwok, J. T. In December 2024 (Published) BibTeX

Empirical Inference Autonomous Learning Conference Paper Learning to Control Emulated Muscles in Real Robots: A Software Test Bed for Bio-Inspired Actuators in Hardware Schumacher, P., Krause, L., Schneider, J., Büchler, D., Martius, G., Haeufle, D. In Proceedings 10th International Conference on Biomedical Robotics and Biomechatronics (BioRob), :806-813, IEEE, 10th International Conference on Biomedical Robotics and Biomechatronics (BioRob), September 2024 (Published) arXiv DOI URL BibTeX

Perceiving Systems Empirical Inference Conference Paper Ghost on the Shell: An Expressive Representation of General 3D Shapes Liu, Z., Feng, Y., Xiu, Y., Liu, W., Paull, L., Black, M. J., Schölkopf, B. In Proceedings of the Twelfth International Conference on Learning Representations (ICLR), The Twelfth International Conference on Learning Representations (ICLR), May 2024 (Published) Home Code Video Project BibTeX

Empirical Inference Perceiving Systems Conference Paper Parameter-Efficient Orthogonal Finetuning via Butterfly Factorization Liu, W., Qiu, Z., Feng, Y., Xiu, Y., Xue, Y., Yu, L., Feng, H., Liu, Z., Heo, J., Peng, S., et al. In Proceedings of the Twelfth International Conference on Learning Representations (ICLR), The Twelfth International Conference on Learning Representations, May 2024 (Published) Home Code HuggingFace project URL BibTeX

Empirical Inference Autonomous Learning Conference Paper The Expressive Leaky Memory Neuron: an Efficient and Expressive Phenomenological Neuron Model Can Solve Long-Horizon Tasks Spieler, A., Rahaman, N., Martius, G., Schölkopf, B., Levina, A. In The Twelfth International Conference on Learning Representations (ICLR), May 2024 (Published) arXiv BibTeX

Empirical Inference Conference Paper DeViL: Decoding Vision features into Language Dani, M., Rio-Torto, I., Alaniz, S., Akata, Z. In Lecture Notes in Computer Science, vol 14264, :363–377, 45th Annual Conference of the German-Association-for-Pattern-Recognition (DAGM GCPR), 2024 (Published) DOI URL BibTeX

Empirical Inference Conference Paper Waffling around for Performance: Visual Classification with Random Words and Broad Concepts Roth, K., Kim, J. M., Koepke, A. S., Vinyals, O., Schmid, C., Akata, Z. In Proceedings 2023 IEEE/CVF INTERNATIONAL CONFERENCE ON COMPUTER VISION (ICCV 2023), :15700-15711, 2023 IEEE/CVF INTERNATIONAL CONFERENCE ON COMPUTER VISION (ICCV 2023), 2024 (Published) DOI URL BibTeX

Empirical Inference Conference Paper Causal normalizing flows: from theory to practice Javaloy, A. S. P. V. I. In Advances in Neural Information Processing Systems 36 (NeurIPS 2023), :1-32, Curran Associates Inc., NeurIPS, December 2023 (Published) DOI URL BibTeX

Empirical Inference Conference Paper Optimistic Active Exploration of Dynamical Systems Sukhija, B. T. L. S. C. B. S. C. S. K. A. In Advances in Neural Information Processing Systems 36 (NeurIPS 2023), :1-32, Curran Associates Inc. , NeurIPS, December 2023 (Published) DOI URL BibTeX

Empirical Inference Conference Paper Spuriosity Didn’t Kill the Classifier: Using Invariant Predictions to Harness Spurious Features Eastwood, C. S. S. N. A. L. V. M. V. K. J. S. B. In Advances in Neural Information Processing Systems 36 (NeurIPS 2023), :1-34, Curran Associates Inc., NeurIPS, December 2023 (Published) DOI URL BibTeX

Empirical Inference Perceiving Systems Conference Paper Controlling Text-to-Image Diffusion by Orthogonal Finetuning Qiu*, Z., Liu*, W., Feng, H., Xue, Y., Feng, Y., Liu, Z., Zhang, D., Weller, A., Schölkopf, B. In Advances in Neural Information Processing Systems 36, 36:79320-79362, (Editors: A. Oh and T. Neumann and A. Globerson and K. Saenko and M. Hardt and S. Levine), Curran Associates, Inc., 37th Annual Conference on Neural Information Processing Systems , December 2023, *equal contribution (Published) Home Code URL BibTeX

Empirical Inference Perceiving Systems Conference Paper One-shot Implicit Animatable Avatars with Model-based Priors Huang, Y., Yi, H., Liu, W., Wang, H., Wu, B., Wang, W., Lin, B., Zhang, D., Cai, D. In Proc. International Conference on Computer Vision (ICCV), :8940-8951, International Conference on Computer Vision, October 2023, *equal contribution (Published) arXiv code project DOI BibTeX

Perceiving Systems Empirical Inference Conference Paper Pairwise Similarity Learning is SimPLE Wen, Y., Liu, W., Feng, Y., Raj, B., Singh, R., Weller, A., Black, M. J., Schölkopf, B. In Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV), International Conference on Computer Vision, October 2023 (Published) URL BibTeX

Embodied Vision Learning and Dynamical Systems Empirical Inference Conference Paper Black-Box vs. Gray-Box: A Case Study on Learning Table Tennis Ball Trajectory Prediction with Spin and Impacts Achterhold, J., Tobuschat, P., Ma, H., Büchler, D., Muehlebach, M., Stueckler, J. In Conference on Learning for Dynamics and Control, 211:878-890, Proceedings of Machine Learning Research, (Editors: Nikolai Matni, Manfred Morari and George J. Pappa), PMLR, June 2023 (Published) preprint code URL BibTeX

Autonomous Learning Empirical Inference Conference Paper Benchmarking Offline Reinforcement Learning on Real-Robot Hardware Gürtler, N., Blaes, S., Kolev, P., Widmaier, F., Wüthrich, M., Bauer, S., Schölkopf, B., Martius, G. In Proceedings of the Eleventh International Conference on Learning Representations, The Eleventh International Conference on Learning Representations (ICLR), May 2023 (Published) Website arXiv Code URL BibTeX

Autonomous Learning Empirical Inference Conference Paper DEP-RL: Embodied Exploration for Reinforcement Learning in Overactuated and Musculoskeletal Systems Schumacher, P., Haeufle, D. F., Büchler, D., Schmitt, S., Martius, G. In The Eleventh International Conference on Learning Representations (ICLR), May 2023 (Published) Arxiv pdf Website URL BibTeX

Autonomous Learning Empirical Inference Conference Paper Bridging the Gap to Real-World Object-Centric Learning Seitzer, M., Horn, M., Zadaianchuk, A., Zietlow, D., Xiao, T., Simon-Gabriel, C., He, T., Zhang, Z., Schölkopf, B., Brox, T., et al. In Proceedings of the Eleventh International Conference on Learning Representations, The Eleventh International Conference on Learning Representations (ICLR), May 2023 (Published) Code Website URL BibTeX

Empirical Inference Conference Paper Effective Bayesian Heteroscedastic Regression with Deep Neural Networks Immer, A. P. E. M. A. V. J. E. In Advances in Neural Information Processing Systems 36 (NeurIPS 2023), :1-24, Curran Associates Inc., NeurIPS, 2023 (Published) DOI URL BibTeX

Human Aspects of Machine Learning Empirical Inference Conference Paper Robustness implies fairness in causal algorithmic recourse. Ehyaei, A., Karimi, A., Schölkopf, B., Maghsudi, S. In 2023 (Published) BibTeX

Empirical Inference Conference Paper A Hierarchical Model of Attention over Time Kim, J., Singh, S., Yurovsky, D., Fisher, A. A. E. In Proceedings of the 44th Annual Meeting of the Cognitive Science Society (Cogsci 2022), :350-357 , (Editors: J. Culbertson and A. Perfors and H. Rabagliati and V. Ramenzoni), 44st Annual Meeting of the Cognitive Science Society (CogSci 2022) , July 2022 (Published) URL BibTeX

Empirical Inference Conference Paper Kernel interpolation in Sobolev spaces is not consistent in low dimensions Buchholz, S. In Proceedings of 35th Conference on Learning Theory (COLT), 178:3410-3440, Proceedings of Machine Learning Research, (Editors: Loh, Po-Ling and Raginsky, Maxim), PMLR, July 2022 (Published) URL BibTeX

Empirical Inference Conference Paper Original or Translated? A Causal Analysis of the Impact of Translationese on Machine Translation Performance Ni, J., Jin, Z., Freitag, M., Sachan, M., Schölkopf, B. In Proceedings of the 2022 Annual Conference of the North American Chapter of the Association for Computational Linguistics (NAACL), :5303-5320, (Editors: Marine Carpuat and Marie-Catherine de Marneffe and Iván Vladimir Meza Ruı́z), Association for Computational Linguistics, July 2022 (Published) arXiv DOI URL BibTeX

Probabilistic Learning Group Empirical Inference Conference Paper Don’t Throw it Away! The Utility of Unlabeled Data in Fair Decision Making Rateike, M., Majumdar, A., Mineeva, O., Gummadi, K. P., Valera, I. In FAccT ’22: 2022 ACM Conference on Fairness, Accountability, and Transparency, :1421-1433, ACM, New York, NY, 5th ACM Conference on Fairness, Accountability, and Transparency (FAccT 2022), June 2022 (Published) DOI BibTeX

Statistical Learning Theory Empirical Inference Conference Paper A Bandit Model for Human-Machine Decision Making with Private Information and Opacity Bordt, S., von Luxburg, U. In Proceedings of the 25th International Conference on Artificial Intelligence and Statistics (AISTATS), 151:7300-7319, Proceedings of Machine Learning Research, (Editors: Camps-Valls, Gustau and Ruiz, Francisco J. R. and Valera, Isabel), PMLR, March 2022 (Published) URL BibTeX

Empirical Inference Conference Paper Real Robot Challenge: A Robotics Competition in the Cloud Bauer, S., Wüthrich, M., Widmaier, F., Buchholz, A., Stark, S., Goyal, A., Steinbrenner, T., Akpo, J., Joshi, S., Berenz, V., et al. In Proceedings of the NeurIPS 2021 Competitions and Demonstrations Track, 176:190-204, Proceedings of Machine Learning Research, (Editors: Kiela, Douwe and Ciccone, Marco and Caputo, Barbara), PMLR, NeurIPS 2021 Competitions and Demonstrations Track (NeurIPS 2021), 2022 (Published) URL BibTeX

Autonomous Learning Empirical Inference Conference Paper Causal Influence Detection for Improving Efficiency in Reinforcement Learning Seitzer, M., Schölkopf, B., Martius, G. In Advances in Neural Information Processing Systems 34 (NeurIPS 2021), 34:22905-22918, (Editors: M. Ranzato and A. Beygelzimer and Y. Dauphin and P. S. Liang and J. Wortman Vaughan), Curran Associates, Inc., Red Hook, NY, 35th Conference on Neural Information Processing Systems, December 2021 (Published) arXiv PDF Data Code URL BibTeX

Empirical Inference Conference Paper DiBS: Differentiable Bayesian Structure Learning Lorch, L., Rothfuss, J., Schölkopf, B., Krause, A. In Advances in Neural Information Processing Systems 34, 29:24111-24123, (Editors: M. Ranzato and A. Beygelzimer and Y. Dauphin and P. S. Liang and J. Wortman Vaughan), Curran Associates, Inc., Red Hook, NY, 35th Annual Conference on Neural Information Processing Systems (NeurIPS 2021), December 2021 (Published) URL BibTeX

Empirical Inference Autonomous Learning Conference Paper Hierarchical Reinforcement Learning with Timed Subgoals Gürtler, N., Büchler, D., Martius, G. In Advances in Neural Information Processing Systems 34, 26:21732-21743, (Editors: M. Ranzato and A. Beygelzimer and Y. Dauphin and P. S. Liang and J. Wortman Vaughan), Curran Associates, Inc., Red Hook, NY, 35th Conference on Neural Information Processing Systems (NeurIPS 2021), December 2021 (Published) video arXiv code URL BibTeX

Empirical Inference Conference Paper Bayesian Deep Learning via Subnetwork Inference Daxberger, E., Nalisnick, E., Allingham, J., Antorán, J., Hernández-Lobato, J. M. In Proceedings of 38th International Conference on Machine Learning (ICML), 139:2510-2521, Proceedings of Machine Learning Research, (Editors: Meila, Marina and Zhang, Tong), PMLR, 38th International Conference on Machine Learning (ICML 2021), July 2021 (Published) URL BibTeX

Empirical Inference Conference Paper Orthogonal Over-Parameterized Training Liu, W., Lin, R., Liu, Z., Rehg, J., Paull, L., Xiong, L., Song, L., Weller, A. In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), :7251-7260, Computer Vision Foundation / IEEE, CVPR, June 2021 (Published) URL BibTeX

Empirical Inference Conference Paper CausalWorld: A Robotic Manipulation Benchmark for Causal Structure and Transfer Learning Ahmed*, O., Träuble*, F., Goyal, A., Neitz, A., Bengio, Y., Schölkopf, B., Wüthrich, M., Bauer, S. In 9th International Conference on Learning Representations (ICLR 2021), :20, ICLR, Wien, International Conference on Learning Representations (ICLR), May 2021, *equal contribution (Published) URL BibTeX

Empirical Inference Conference Paper A teacher-student framework to distill future trajectories Neitz*, A., Parascandolo*, G., Schölkopf, B. In 9th International Conference on Learning Representations (ICLR), May 2021, *equal contribution (Published) URL BibTeX

Empirical Inference Conference Paper Fast And Slow Learning Of Recurrent Independent Mechanisms Madan, K., Ke, N. R., Goyal, A., Schölkopf, B., Bengio, Y. In 9th International Conference on Learning Representations (ICLR), May 2021 (Published) URL BibTeX

Empirical Inference Conference Paper Learning explanations that are hard to vary Parascandolo*, G., Neitz*, A., Orvieto, A., Gresele, L., Schölkopf, B. In 9th International Conference on Learning Representations (ICLR), May 2021, *equal contribution (Published) arXiv URL BibTeX

Empirical Inference Conference Paper Predicting Infectiousness for Proactive Contact Tracing Bengio, Y., Gupta, P., Maharaj, T., Rahaman, N., Weiss, M., Deleu, T., Muller, E. B., Qu, M., Schmidt, V., St-Charles, P., et al. In The Ninth International Conference on Learning Representations (ICLR 2021), 9th International Conference on Learning Representations (ICLR), May 2021 (Published) URL BibTeX

Empirical Inference Conference Paper Rao-Blackwellizing the Straight-Through Gumbel-Softmax Gradient Estimator Paulus, M. B., Maddison, C. J., Krause, A. In The Ninth International Conference on Learning Representations , 9th International Conference on Learning Representations (ICLR 2021), May 2021 (Published) URL BibTeX

Empirical Inference Conference Paper Spatially Structured Recurrent Modules Rahaman, N., Goyal, A., Gondal, M. W., Wüthrich, M., Bauer, S., Sharma, Y., Bengio, Y., Schölkopf, B. In 9th International Conference on Learning Representations (ICLR), May 2021 (Published) URL BibTeX

Empirical Inference Conference Paper On the Transfer of Disentangled Representations in Realistic Settings Dittadi*, A., Träuble*, F., Locatello, F., Wüthrich, M., Agrawal, V., Winther, O., Bauer, S., Schölkopf, B. In The Ninth International Conference on Learning Representations (ICLR), The 9th International Conference on Learning Representations (ICLR 2021) , May 2021, *equal contribution (Published) URL BibTeX

Empirical Inference Conference Paper Recurrent Independent Mechanisms Goyal, A., Lamb, A., Hoffmann, J., Sodhani, S., Levine, S., Bengio, Y., Schölkopf, B. In The Ninth International Conference on Learning Representations (ICLR), 9th International Conference on Learning Representations (ICLR 2021), May 2021 (Published) URL BibTeX

Empirical Inference Conference Paper ResNet After All: Neural ODEs and Their Numerical Solution Ott, K., Katiyar, P., Hennig, P., Tiemann, M. In The Ninth International Conference on Learning Representations (ICLR 2021), 9th International Conference on Learning Representations (ICLR), May 2021 (Published) URL BibTeX

Empirical Inference Conference Paper Spatial Dependency Networks: Neural Layers for Improved Generative Image Modeling Miladinović, D., Stanić, A., Bauer, S., Schmidhuber, J., Buhmann, J. M. In The 9th International Conference on Learning Representations (ICLR), The Ninth International Conference on Learning Representations (ICLR 2021), May 2021 (Published) URL BibTeX

Empirical Inference Conference Paper A Theory of Independent Mechanisms for Extrapolation in Generative Models Besserve, M., Sun, R., Janzing, D., Schölkopf, B. In Proceedings of the 35th AAAI Conference on Artificial Intelligence , 35(8):6741-6749, 35th AAAI Conference on Artificial Intelligence (AAAI 2021), February 2021 (Published) arXiv DOI URL BibTeX

Empirical Inference Conference Paper Worst-Case Risk Quantification under Distributional Ambiguity using Kernel Mean Embedding in Moment Problem Zhu, J., Jitkrittum, W., Diehl, M., Schölkopf, B. In 59th IEEE Conference on Decision and Control (CDC), :3457-3463, IEEE, December 2020 (Published) arXiv DOI BibTeX

Perceiving Systems Empirical Inference Conference Paper Grasping Field: Learning Implicit Representations for Human Grasps Karunratanakul, K., Yang, J., Zhang, Y., Black, M., Muandet, K., Tang, S. In 2020 International Conference on 3D Vision (3DV 2020), :333-344, IEEE, Piscataway, NJ, International Conference on 3D Vision (3DV 2020), November 2020 (Published) pdf arXiv code DOI BibTeX

Empirical Inference Conference Paper Climate Adaptation: Reliably Predicting from Imbalanced Satellite Data Rawal*, R., Pradhan*, P. In IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW 2020), :350-359, IEEE, Piscataway, NJ, 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW 2020), June 2020, *equal contribution (Published) DOI URL BibTeX

Perceiving Systems Empirical Inference Conference Paper Local Temporal Bilinear Pooling for Fine-grained Action Parsing Zhang, Y., Tang, S., Muandet, K., Jarvers, C., Neumann, H. In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), :12005-12015, IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), June 2019 () Code video demo pdf URL BibTeX

Empirical Inference Conference Paper Overcoming Mean-Field Approximations in Recurrent Gaussian Process Models Ialongo, A. D., Van Der Wilk, M., Hensman, J., Rasmussen, C. E. In Proceedings of the 36th International Conference on Machine Learning (ICML), 97:2931-2940, Proceedings of Machine Learning Research, (Editors: Chaudhuri, Kamalika and Salakhutdinov, Ruslan), PMLR, June 2019 (Published) PDF URL BibTeX

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