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Micro, Nano, and Molecular Systems

Movement Generation and Control

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2022

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Physics for Inference and Optimization Master Thesis Edge-Disjoint Path Problem on Stochastic Block Models through Message Passing Ferretti, L. Sapienza Università di Roma, 2020 BibTeX
Modern Magnetic Systems Article Effect of proton fluence on the superconducting properties of MgB2. irradiated with protons of high energy Sandu, V., Ionescu, A. M., Ivan, I., Craciun, L., Aldica, G. Physica C, 578, North-Holland, Amsterdam, 2020 DOI BibTeX
Modern Magnetic Systems Article Effect of the soft layer thickness on magnetization reversal process of exchange-spring nanomagnet patterns Son, K., Schütz, G., Goering, E. Current Applied Physics, 20(4):477-483, Elsevier B.V., Amsterdam, 2020 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Effective pair interaction of patchy particles in critical fluids Farahmand Bafi, N., Nowakowski, P., Dietrich, S. The Journal of Chemical Physics, 152(11):114902, American Institute of Physics, Woodbury, N.Y., 2020 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Electrostatic pair-interaction of nearby metal or metal-coated colloids at fluid interfaces Bebon, R., Majee, A. The Journal of Chemical Physics, 153(4):044903, American Institute of Physics, Woodbury, N.Y., 2020 DOI BibTeX
Modern Magnetic Systems Article Element-resolved study on the evolution of magnetic response in FexN compounds Chen, Y., Gölden, D., Dirba, I., Huang, M., Gutfleisch, O., Nagel, P., Merz, M., Schuppler, S., Schütz, G., Alff, L., Goering, E. Journal of Magnetism and Magnetic Materials, 498:166219, NH, Elsevier, Amsterdam, 2020 DOI BibTeX
Physical Intelligence Medical Systems Article Elucidating the interaction dynamics between microswimmer body and immune system for medical microrobots Yasa, I. C., Ceylan, H., Bozuyuk, U., Wild, A., Sitti, M. Science Robotics, 5(43):eaaz3867, 2020 DOI URL BibTeX
Physical Intelligence Article Emerging paradigm against global antimicrobial resistance via bioprospecting of mushroom into novel nanotherapeutics development Pandey, A. T., Pandey, I., Hachenberger, Y., Krause, B., Haidar, R., Laux, P., Luch, A., Singh, M. P., Singh, A. V. Trends in Food Science \& Technology, 106:333-344, 2020 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Energy storage in steady states under cyclic local energy input Zhang, Y., Holyst, R., Maciolek, A. Physical Review E, 101(1):012127, American Physical Society, Melville, NY, 2020 DOI BibTeX
Materials Article Energy-dispersive X-ray micro Laue diffraction on a bent gold nanowire AlHassan, A., Abboud, A., Cornelius, T. W., Ren, Z., Thomas, O., Richter, G., Micha, J., Send, S., Hartmann, R., Strüder, L., Pietscha, U. Journal of Applied Crystallography, 54(1):80-86, Blackwell Publishing on behalf of the International Union of Crystallography, Oxford, England, 2020 DOI BibTeX
Materials Article Enhanced Electrocatalytic Activities toward the Ethanol Oxidation of Nanoporous Gold Prepared via Solid-Phase Reaction Zhang, A., Chen, Y. Y., Yang, Z. P., Ma, S., Huang, Y., Richter, G., Schutzendube, P., Zhong, C., Wang, Z. M. Acs Applied Energy Materials, 3(1):336-343, 2020 DOI BibTeX
Modern Magnetic Systems Article Enhancement of spin Hall conductivity in W-Ta alloy Kim, J., Han, D., Vafaee, M., Jaiswal, S., Lee, K., Jakob, G., Kläui, M. Applied Physics Letters, 117(14):142403, American Institute of Physics, Melville, NY, 2020 DOI BibTeX
Empirical Inference Article Enhancing gravitational-wave science with machine learning Cuoco, E., Powell, J., Cavaglià, M., Ackley, K., Bejger, M., Chatterjee, C., Coughlin, M., Coughlin, S., Easter, P., Essick, R., Gabbard, H., Gebhard, T., Ghosh, S., Haegel, L., Iess, A., Keitel, D., Márka, Z., Márka, S., Morawski, F., Nguyen, T., et al. Machine Learning: Science and Technology, 2(1), 2020 (Published) DOI BibTeX
Statistical Learning Theory Article Estimation of perceptual scales using ordinal embedding Haghiri, S., Wichmann, F. A., von Luxburg, U. Journal of Vision, 20(9), 2020 (Published) DOI URL BibTeX
Empirical Inference Article Evolutionary training and abstraction yields algorithmic generalization of neural computers Tanneberg, D., Rueckert, E., Peters, J. Nature Machine Intelligence, 2:753-763, 2020 (Published) DOI BibTeX
Intelligent Control Systems Autonomous Motion Proceedings Excursion Search for Constrained Bayesian Optimization under a Limited Budget of Failures Marco, A., Rohr, A. V., Baumann, D., Hernández-Lobato, J. M., Trimpe, S. 2020 (In revision)
When learning to ride a bike, a child falls down a number of times before achieving the first success. As falling down usually has only mild consequences, it can be seen as a tolerable failure in exchange for a faster learning process, as it provides rich information about an undesired behavior. In the context of Bayesian optimization under unknown constraints (BOC), typical strategies for safe learning explore conservatively and avoid failures by all means. On the other side of the spectrum, non conservative BOC algorithms that allow failing may fail an unbounded number of times before reaching the optimum. In this work, we propose a novel decision maker grounded in control theory that controls the amount of risk we allow in the search as a function of a given budget of failures. Empirical validation shows that our algorithm uses the failures budget more efficiently in a variety of optimization experiments, and generally achieves lower regret, than state-of-the-art methods. In addition, we propose an original algorithm for unconstrained Bayesian optimization inspired by the notion of excursion sets in stochastic processes, upon which the failures-aware algorithm is built.
arXiv code (python) PDF BibTeX
Article Explanation of the apparent depth resolution improvement by SIMS using cluster ion detection Hofmann, S., Lejcek, P., Zhou, G., Yang, H., Lian, S., Kovac, J., Wang, J. Journal of Vacuum Science and Technology B, 38(3), Published by AVS through the American Institute of Physics, New York, 2020 DOI BibTeX
Autonomous Vision Conference Paper Exploring Data Aggregation in Policy Learning for Vision-based Urban Autonomous Driving Prakash, A., Behl, A., Ohn-Bar, E., Chitta, K., Geiger, A. In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), 2020
Data aggregation techniques can significantly improve vision-based policy learning within a training environment, e.g., learning to drive in a specific simulation condition. However, as on-policy data is sequentially sampled and added in an iterative manner, the policy can specialize and overfit to the training conditions. For real-world applications, it is useful for the learned policy to generalize to novel scenarios that differ from the training conditions. To improve policy learning while maintaining robustness when training end-to-end driving policies, we perform an extensive analysis of data aggregation techniques in the CARLA environment. We demonstrate how the majority of them have poor generalization performance, and develop a novel approach with empirically better generalization performance compared to existing techniques. Our two key ideas are (1) to sample critical states from the collected on-policy data based on the utility they provide to the learned policy in terms of driving behavior, and (2) to incorporate a replay buffer which progressively focuses on the high uncertainty regions of the policy's state distribution. We evaluate the proposed approach on the CARLA NoCrash benchmark, focusing on the most challenging driving scenarios with dense pedestrian and vehicle traffic. Our approach improves driving success rate by 16% over state-of-the-art, achieving 87% of the expert performance while also reducing the collision rate by an order of magnitude without the use of any additional modality, auxiliary tasks, architectural modifications or reward from the environment.
pdf suppmat Video 2 Project Page Slides Video 1 BibTeX
Modern Magnetic Systems Article Ferrimagnetic skyrmions in topological insulator/ferrimagnet heterostructures Wu, H., Groß, F., Dai, B. Q., Lujan, D., Razavi, S. A., Zhang, P., Liu, Y. X., Sobotkiewich, K., Förster, J., Weigand, M., Schütz, G., Li, X. Q., Gräfe, J., Wang, K. L. Advanced Materials, 32(34), Wiley-VCH, Weinheim, 2020 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Finite-size corrections for the static structure factor of a liquid slab with open boundaries Höfling, F., Dietrich, S. The Journal of Chemical Physics, 153(5):054119, American Institute of Physics, Woodbury, N.Y., 2020 DOI BibTeX
Materials Article First stages of plasticity in three-point bent Au nanowires detected by in situ Laue microdiffraction Ren, Z., Cornelius, T. W., Leclere, C., Davydok, A., Micha, J., Robach, O., Richter, G., Thomas, O. Applied Physics Letters, 116(24):243101, American Institute of Physics, Melville, NY, 2020 DOI BibTeX
Locomotion in Biorobotic and Somatic Systems Article Fish-like aquatic propulsion studied using a pneumatically-actuated soft-robotic model Wolf, Z., Jusufi, A., Vogt, D. M., Lauder, G. V. Bioinspiration & Biomimetics, 15(4):046008, Inst. of Physics, London, 2020 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Floor- or Ceiling-Sliding for Chemically Active, Gyrotactic, Sedimenting Janus Particles Das, S., Jalilvand, Z., Popescu, M. N., Uspal, W. E., Dietrich, S., Kretzschmar, I. Langmuir, 36(25):7133-7147, American Chemical Society, Columbus, OH, 2020 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Fractal-seaweeds type functionalization of graphene Amsharov, K., Sharapa, D. I., Vasilyev, O. A., Martin, O., Hauke, F., Görling, A., Soni, H., Hirsch, A. Carbon, 158:435-448, Elsevier, Amsterdam, 2020 DOI BibTeX
Probabilistic Learning Group Article General Latent Feature Models for Heterogeneous Datasets Valera, I., Pradier, M. F., Lomeli, M., Ghahramani, Z. Journal of Machine Learning Research, 21(100):1-49, 2020 (Published) URL BibTeX
Modern Magnetic Systems Article Generation and characterization of focused helical x-ray beams Loetgering, L., Baluktsian, M., Keskinbora, K., Horstmeyer, R., Wilhein, T., Schütz, G., Eikema, K. S. E., Witte, S. Science Advances, 6(7), American Association for the Advancement of Science, 2020 Generation and characterization of focused helical x-ray beams DOI URL BibTeX
Modern Magnetic Systems Article Grain boundary oxide layers in NdFeB-based permanent magnets Mazilkin, A., Straumal, B. B., Protasova, S. G., Gorji, S., Straumal, A. B., Katter, M., Schütz, G., Baretzky, B. Materials and Design, 199, Elsevier, Reigate, Surrey, Eng., 2020 DOI BibTeX
Empirical Inference Article Grip Stabilization through Independent Finger Tactile Feedback Control Veiga, F., Edin, B., Peters, J. Sensors, 20(6), 2020 (Published) DOI URL BibTeX
Autonomous Vision Article HOTA: A Higher Order Metric for Evaluating Multi-Object Tracking Luiten, J., Osep, A., Dendorfer, P., Torr, P., Geiger, A., Leal-Taixe, L., Leibe, B. International Journal of Computer Vision, 129(2):548-578, 2020 (Published)
Multi-Object Tracking (MOT) has been notoriously difficult to evaluate. Previous metrics overemphasize the importance of either detection or association. To address this, we present a novel MOT evaluation metric, HOTA (Higher Order Tracking Accuracy), which explicitly balances the effect of performing accurate detection, association and localization into a single unified metric for comparing trackers. HOTA decomposes into a family of sub-metrics which are able to evaluate each of five basic error types separately, which enables clear analysis of tracking performance. We evaluate the effectiveness of HOTA on the MOTChallenge benchmark, and show that it is able to capture important aspects of MOT performance not previously taken into account by established metrics. Furthermore, we show HOTA scores better align with human visual evaluation of tracking performance.
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Probabilistic Learning Group Article Handling incomplete heterogeneous data using VAEs Nazábal, A., Olmos, P. M., Ghahramani, Z., Valera, I. Pattern Recognition, 107:107501, 2020 (Published) DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Heterogeneous surface charge confining an electrolyte solution Mußotter, M., Bier, M., Dietrich, S. The Journal of Chemical Physics, 152(23):234703, American Institute of Physics, Woodbury, N.Y., 2020 DOI BibTeX
Empirical Inference Article Hierarchical Tactile-Based Control Decomposition of Dexterous In-Hand Manipulation Tasks Veiga, F., Akrour, R., Peters, J. Frontiers in Robotics and AI, 7, 2020 (Published) DOI URL BibTeX
Materials Article High capacity rock salt type Li2MnO3-delta thin film battery electrodes Muller, H. A., Joshi, Y., Hadjixenophontos, E., Peter, C., Csiszar, G., Richter, G., Schmitz, G. RSC Advances, 10(7):3636-3645, 2020 DOI BibTeX
Physical Intelligence Article High-yield production of biohybrid microalgae for on-demand cargo delivery Akolpoglu, M. B., Dogan, N. O., Bozuyuk, U., Ceylan, H., Kizilel, S., Sitti, M. Advanced Science, 7(16):2001256, 2020 DOI URL BibTeX
Modern Magnetic Systems Article Highly effective hydrogen isotope separation through dihydrogen bond on Cu(I)-exchanged zeolites well above liquid nitrogen temperature Xiong, R., Zhang, L., Li, P., Luo, W., Tang, T., Ao, B., Sang, G., Chen, C., Yan, X., Chen, J., Hirscher, M. Chemical Engineering Journal, 391, Elsevier, Lausanne, 2020 DOI BibTeX
Modern Magnetic Systems Article Highly nonlinear magnetoelectric effect in buckled-honeycomb antiferromagnetic Co4Ta2O9 Lee, N., Oh, D. G., Choi, S., Moon, J. Y., Kim, J. H., Shin, H. J., Son, K., Nuss, J., Kiryukhin, V., Choi, Y. J. Scientific Reports, 10, Nature Publishing Group, London, UK, 2020 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article How to speed up ion transport in nanopores Breitsprecher, K., Janssen, M., Srimuk, P., Layla Mehdi, B., Presser, V., Holm, C., Kondrat, S. Nature Communications, 11:6085, Nature Publishing Group, London, 2020 (Published) DOI BibTeX
Intelligent Control Systems Technical Report Identifying Causal Structure in Dynamical Systems Baumann, D., Solowjow, F., Johansson, K. H., Trimpe, S. 2020 arXiv BibTeX
Empirical Inference Conference Paper ImitationFlow: Learning Deep Stable Stochastic Dynamic Systems by Normalizing Flows Urain, J., Ginesi, M., Tateo, D., Peters, J. International Conference on Intelligent Robots and Systems (IROS), 5231-5237, IEEE, 2020 (Published) DOI BibTeX
Empirical Inference Article Impact of prospective motion correction, distortion correction methods and large vein bias on the spatial accuracy of cortical laminar fMRI at 9.4 Tesla Bause, J., Polimeni, J. R., Stelzer, J., In, M., Ehses, P., Kraemer-Fernandez, P., Aghaeifar, A., Lacosse, E., Pohmann, R., Scheffler, K. Neuroimage, 208, 2020 (Published) DOI BibTeX
Modern Magnetic Systems Article In situ x-ray diffraction and spectro-microscopic study of ALD protected copper films Dogan, G., Sanli, U. T., Hahn, K., Müller, L., Gruhn, H., Silber, C., Schütz, G., Grévent, C., Keskinbora, K. ACS Applied Materials and Interfaces, 12(29):33377-33385, American Chemical Society, Washington, DC, 2020 DOI BibTeX
Physical Intelligence Article In-air fast response and high speed jumping and rolling of a light-driven hydrogel actuator Li, M., Wang, X., Dong, B., Sitti, M. Nature Communications, 11:3988, 2020 DOI URL BibTeX
Materials Article In-situ TEM study of dislocation interaction with twin boundary and retraction in twinned metallic nanowires Cheng, G., Yin, S., Li, C., Chang, T., Richter, G., Gao, H., Zhu, Y. Acta Materialia, 196:304-312, Elsevier Science, Kidlington, 2020 DOI BibTeX
Modern Magnetic Systems Article Incipient antiferromagnetism in the Eu-doped topological insulator Bi2Te3 Tcakaev, A., Zabolotnyy, V. B., Fornari, C. I., Rüßmann, P., Peixoto, T. R. F., Stier, F., Dettbarn, M., Kagerer, P., Weschke, E., Schierle, E., Bencok, P., Rappl, P. H. O., Abramof, E., Bentmann, H., Goering, E., Reinert, F., Hinkov, V. Physical Review B, 102(18):184401, American Physical Society, Woodbury, NY, 2020 (Published) DOI BibTeX
Empirical Inference Article Incremental Learning of an Open-Ended Collaborative Skill Library Koert, D., Trick, S., Ewerton, M., Lutter, M., Peters, J. International Journal of Humanoid Robotics, 17(1), 2020 (Published) DOI BibTeX
Empirical Inference Article Independent attenuation correction of whole body [18F]FDG-PET using a deep learning approach with Generative Adversarial Networks Armanious, K., Hepp, T., Küstner, T., Dittmann, H., Nikolaou, K., La Fougère, C., Yang, B., Gatidis, S. EJNMMI Research, 10, 2020 (Published) DOI BibTeX
Perceiving Systems Article Influence of Physical Activity Interventions on Body Representation: A Systematic Review Srismith, D., Wider, L., Wong, H. Y., Zipfel, S., Thiel, A., Giel, K. E., Behrens, S. C. Frontiers in Psychiatry, 11:99, 2020 (Published)
Distorted representation of one's own body is a diagnostic criterion and corepsychopathology of disorders such as anorexia nervosa and body dysmorphic disorder. Previousliterature has raised the possibility of utilising physical activity intervention (PI) as atreatment option for individuals suffering from poor body satisfaction, which is traditionallyregarded as a systematic distortion in “body image.” In this systematic review,conducted according to the PRISMA statement, the evidence on effectiveness of PI on body representation outcomes is synthesised. We provide an update of 34 longitudinal studies evaluating the effectiveness of different types of PIs on body representation. No systematic risk of bias within or across studies were identified. The reviewed studies show that the implementation of structured PIs may be efficacious in increasing individuals’ satisfaction of their own body, and thus improving their subjective body image related assessments. However, there is no clear evidence regarding an additional or interactive effect of PI when implemented in conjunction with established treatments for clinical populations. We argue for theoretically sound, mechanism-oriented, multimethod approaches to future investigations on body image disturbance. Specifically, we highlight the need to consider expanding the theoretical framework for the investigation of body representation disturbances to include further body representations besides body image.
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Modern Magnetic Systems Article Inhomogeneous ferromagnetism mimics signatures of the topological Hall effect in SrRuO3 films Kim, G., Son, K., Suyolcu, Y. E., Miao, L., Schreiber, N. J., Nair, H. P., Putzky, D., Minola, M., Christiani, G., van Aken, P. A., Shen, K. M., Schlom, D. G., Logvenov, G., Keimer, B. Physical Review Materials, 4(10), American Physical Society, College Park, MD, 2020 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Inhomogeneous surface tension of chemically active fluid interfaces Squarcini, A., Malgaretti, P. The Journal of Chemical Physics, 153(23):234903, American Institute of Physics, Woodbury, N.Y., 2020 DOI BibTeX
Materials Article Interdiffusion in bimetallic Au-Fe nanowhiskers controlled by interface mobility Qi, Y., Richter, G., Suadiye, E., Klinger, L., Rabkin, E. Acta Materialia, 197:137-145, Elsevier Science, Kidlington, 2020 DOI BibTeX