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Movement Generation and Control

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Haptic Intelligence Miscellaneous The Benefits of Gait Retraining with Vibrotactile Feedback Outweigh Higher Perceived Mental Load Sundaram, V. H., Rokhmanova, N., Halilaj, E., Kuchenbecker, K. J. Extended abstract (1 page) presented at the American Society of Biomechanics Annual Meeting (ASB), Pittsburgh, USA, August 2025 (Accepted) BibTeX
Haptic Intelligence Robotic Materials Miscellaneous Learning-Based Touch Detection and Force Estimation in Cutaneous Electrohydraulic Devices Sanchez-Tamayo, N., Singer, D., Keplinger, C., Kuchenbecker, K. J. Work-in-progress paper (2 pages) presented at the IEEE World Haptics Conference (WHC), Suwon, South Korea, July 2025 (Accepted) BibTeX
Haptic Intelligence Miscellaneous Perception of Diverse Asymmetric Vibration Signals Tashiro, N., Ballardini, G., Nunez, C. M., Vardar, Y., Kuchenbecker, K. J. Work-in-progress paper (2 pages) presented at the IEEE World Haptics Conference (WHC), Suwon, South Korea, July 2025 (Accepted) BibTeX
Haptic Intelligence Robotics Miscellaneous Soft Magnetic Fingertip Devices for Clear Vibrotactile Feedback Gertler, I., Ballardini, G., Grüninger, F., Kuchenbecker, K. J. Hands-on demonstration presented at the IEEE World Haptics Conference (WHC), Suwon, South Korea, July 2025 (Accepted) BibTeX
Haptic Intelligence Robotics Robotic Materials Miscellaneous Wrist-Worn Circumferential Pressure Feedback for Conveying Directional Forces in Virtual Reality Kadmani, A., Bartels, J. U., Sanchez-Tamayo, N., Gasparetto, W., Kuchenbecker, K. J. Work-in-progress paper (2 pages) presented at the IEEE World Haptics Conference (WHC), Suwon, South Korea, July 2025 (Accepted) BibTeX
Perceiving Systems Conference Paper ChatGarment: Garment Estimation, Generation and Editing via Large Language Models Bian, S., Xu, C., Xiu, Y., Grigorev, A., Liu, Z., Lu, C., Black, M. J., Feng, Y. In IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR), June 2025 (Published) project arXiv video code BibTeX
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) 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 (Published) project pdf Paper BibTeX
Perceiving Systems Conference Paper InteractVLM: 3D Interaction Reasoning from 2D Foundational Models Dwivedi, S. K., Antić, D., Tripathi, S., Taheri, O., Schmid, C., Black, M. J., Tzionas, D. In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), June 2025 (Published) Project Paper Code Video BibTeX
Perceiving Systems Conference Paper PromptHMR: Promptable Human Mesh Recovery Wang, Y., Sun, Y., Patel, P., Daniilidis, K., Black, M. J., Kocabas, M. In IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR), June 2025 (Published) arXiv project video BibTeX
Haptic Intelligence Article Comparing Puncture-Detection Approaches for Manual Needle Insertions Through the Parietal Pleura L’Orsa, R., Zareinia, K., Sutherland, G. R., Westwick, D., Kuchenbecker, K. J. IEEE Transactions on Medical Robotics and Bionics, 7(2):455-468, May 2025 (Published) DOI BibTeX
Haptic Intelligence Optics and Sensing Laboratory Miscellaneous Open-Source Multi-Viewpoint Surgical Telerobotics Caccianiga, G., Sharon, Y., Javot, B., Polikovsky, S., Ergün, G., Capobianco, I., Mihaljevic, A. L., Deguet, A., Kuchenbecker, K. J. Extended abstract (2 pages) presented at the ICRA Workshop on Robot-Assisted Medical Imaging (ICRA-RAMI), Atlanta, USA, May 2025 (Accepted) BibTeX
Social Foundations of Computation Conference Paper To Give or Not to Give? The Impacts of Strategically Withheld Recourse Chen, Y., Estornell, A., Vorobeychik, Y., Liu, Y. In Proceedings of the 28th International Conference on Artificial Intelligence and Statistics (AISTAS), PMLR, The Twenty-Eight International Conference on Artificial Intelligence and Statistics (AISTATS), May 2025 (Published) arXiv URL BibTeX
Haptic Intelligence Embodied Vision Robotics Conference Paper Visuo-Tactile Object Pose Estimation for a Multi-Finger Robot Hand with Low-Resolution In-Hand Tactile Sensing Mack, L., Grüninger, F., Richardson, B. A., Lendway, R., Kuchenbecker, K. J., Stueckler, J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Atlanta, USA, May 2025 (Accepted) BibTeX
Perceiving Systems Ph.D. Thesis Understanding Human-Scene Interaction through Perception and Generation Yi, H. April 2025 (Published) thesis BibTeX
Physical Intelligence Article Navigating microalgal biohybrids through confinements with magnetic guidance Akolpoglu, M. B., Baltaci, S. F., Bozuyuk, U., Karaz, S., Sitti, M. Matter, 8:102052, April 2025 (Published) DOI URL BibTeX
Haptic Intelligence Miscellaneous A Method for Single-Input Sequencing of Hyperelastic Balloons Gertler, I., Kuchenbecker, K. J. Extended abstract (3 pages) presented at the IEEE-RAS International Conference on Soft Robotics (RoboSoft), Lausanne, Switzerland, April 2025 (Published) BibTeX
Empirical Inference Autonomous Learning Conference Paper Advancing Out-of-Distribution Detection via Local Neuroplasticity Canevaro, A., Schmidt, J., Marvi, M. S., Yu, H., Martius, G., Jordan, J. The Thirteenth International Conference on Learning Representations (ICLR), April 2025 (Published) arXiv BibTeX
Haptic Intelligence Robotics Miscellaneous Bio-Inspired Gradient (BIG) Whiskers: Stiffness-Shifting Structures Provide Dynamic Functional Benefits for Contact Sensing Schulz, A. K., Andrussow, I., Farsijani, F., Faulkner, R., Kuchenbecker, K. J. Extended abstract (3 pages) presented at the IEEE-RAS International Conference on Soft Robotics (RoboSoft), Lausanne, Switzerland, April 2025 (Published) BibTeX
Empirical Inference Perceiving Systems Conference Paper Can Large Language Models Understand Symbolic Graphics Programs? Qiu, Z., Liu, W., Feng, H., Liu, Z., Xiao, T. Z., Collins, K. M., Tenenbaum, J. B., Weller, A., Black, M. J., Schölkopf, B. The Thirteenth International Conference on Learning Representations (ICLR), April 2025 (Published) arXiv Paper BibTeX
Empirical Inference Conference Paper Compositional simulation-based inference for time series Gloeckler*, M., Toyota*, S., Fukumizu, K., Macke, J. H. The Thirteenth International Conference on Learning Representations (ICLR), April 2025 (Published) arXiv BibTeX
Empirical Inference Learning and Dynamical Systems Conference Paper Conformal Generative Modeling with Improved Sample Efficiency through Sequential Greedy Filtering Kladny, K., Schölkopf, B., Muehlebach, M. The Thirteenth International Conference on Learning Representations (ICLR), April 2025 (Published) arXiv URL BibTeX
Empirical Inference Robust Machine Learning Conference Paper Cross-Entropy Is All You Need to Invert the Data Generating Process Reizinger*, P., Bizeul*, A., Juhos*, A., Vogt, J. E., Balestriero, R., Brendel, W., Klindt, D. The Thirteenth International Conference on Learning Representations (ICLR), April 2025, *Joint first authorship (Published) arXiv BibTeX
Empirical Inference Conference Paper Differential private steering for Large language model alignment Goel, A., Hu, Y., Gurevych, I., Sanyal, A. The Thirteenth International Conference on Learning Representations (ICLR), April 2025 (Published) arXiv BibTeX
Empirical Inference Perceiving Systems Conference Paper Efficient Diversity-Preserving Diffusion Alignment via Gradient-Informed GFlowNets Liu, Z., Xiao, T. Z., Liu, W., Bengio, Y., Zhang, D. The Thirteenth International Conference on Learning Representations (ICLR), April 2025 (Published) arXiv BibTeX
Empirical Inference Robust Machine Learning Conference Paper Identifiable Exchangeable Mechanisms for Causal Structure and Representation Learning Reizinger, P., Guo, S., Huszár, F., Schölkopf, B., Brendel, W. The Thirteenth International Conference on Learning Representations (ICLR), April 2025 (Published) arXiv BibTeX
Empirical Inference Conference Paper Improving Probabilistic Diffusion Models With Optimal Covariance Matching Ou*, Z., Zhang*, M., Zhang, A., Xiao, T. Z., Li, Y., Barber, D. The Thirteenth International Conference on Learning Representations (ICLR), April 2025, *equal contribution (Published) arXiv BibTeX
Empirical Inference Conference Paper Influence Functions for Scalable Data Attribution in Diffusion Models Mlodozeniec, B., Eschenhagen, R., Bae, J., Immer, A., Krueger, D., Turner, R. The Thirteenth International Conference on Learning Representations (ICLR), April 2025 (Published) arXiv BibTeX
Empirical Inference Robust Machine Learning Conference Paper Interaction Asymmetry: A General Principle for Learning Composable Abstractions Brady, J., von Kügelgen, J., Lachapelle, S., Buchholz, S., Kipf*, T., Brendel*, W. The Thirteenth International Conference on Learning Representations (ICLR), April 2025, *joint senior author (Published) arXiv BibTeX
Empirical Inference Conference Paper Language Model Alignment in Multilingual Trolley Problems Jin, Z., Kleiman-Weiner, M., Piatti, G., Levine, S., Liu, J., Gonzalez, F., Ortu, F., Strausz, A., Sachan, M., Mihalcea, R., et al. The Thirteenth International Conference on Learning Representations (ICLR), April 2025 (Published) arXiv BibTeX
Empirical Inference Autonomous Learning Conference Paper On the Transfer of Object-Centric Representation Learning Didolkar, A. R., Zadaianchuk, A., Goyal, A., Mozer, M. C., Bengio, Y., Martius*, G., Seitzer*, M. The Thirteenth International Conference on Learning Representations (ICLR), April 2025, *equal contribution (Published) URL BibTeX
Empirical Inference Conference Paper Preference Elicitation for Offline Reinforcement Learning Pace, A., Schölkopf, B., Rätsch, G., Ramponi, G. The Thirteenth International Conference on Learning Representations (ICLR), April 2025 (Published) arXiv BibTeX
Empirical Inference Conference Paper Standardizing Structural Causal Models Ormaniec*, W., Sussex*, S., Lorch*, L., Schölkopf, B., Krause, A. The Thirteenth International Conference on Learning Representations (ICLR), April 2025, *equal contribution (Published) arXiv BibTeX
Empirical Inference Conference Paper The Directionality of Optimization Trajectories in Neural Networks Singh, S. P., He, B., Hofmann, T., Schölkopf, B. The Thirteenth International Conference on Learning Representations (ICLR), April 2025 (Published) URL BibTeX
Empirical Inference Conference Paper What Does It Mean to Be a Transformer? Insights from a Theoretical Hessian Analysis Ormaniec, W., Dangel, F., Singh, S. P. The Thirteenth International Conference on Learning Representations (ICLR), April 2025 (Published) arXiv BibTeX
Empirical Inference Conference Paper MathGAP: Out-of-Distribution Evaluation on Problems with Arbitrarily Complex Proofs Opedal*, A., Shirakami*, H., Schölkopf, B., Saparov, A., Sachan, M. The Thirteenth International Conference on Learning Representations (ICLR), April 2025, *equal contribution (Published) arXiv BibTeX
Haptic Intelligence Article Enhancing Needle Puncture Detection Using High-Pass Filtering and Diffuse Reflectance L’Orsa, R., Bisht, A., Yu, L., Murari, K., Sutherland, G., Westwick, D., Kuchenbecker, K. J. Frontiers in Robotics and AI, March 2025 (Accepted) BibTeX
Haptic Intelligence Miscellaneous Error-State Extended Kalman Filter Sensor Fusion for Tracking Collaborating Humans Hudhud Mughrabi, M., Allemang–Trivalle, A., Kuchenbecker, K. J. Extended abstract (3 pages) presented at the German Robotics Conference (GRC), Nuremberg, Germany, March 2025 (Published) BibTeX
Perceiving Systems Conference Paper Gaussian Garments: Reconstructing Simulation-Ready Clothing with Photo-Realistic Appearance from Multi-View Video Rong, B., Grigorev, A., Wang, W., Black, M. J., Thomaszewski, B., Tsalicoglou, C., Hilliges, O. In International Conference on 3D Vision (3DV), International Conference on 3D Vision, March 2025 (Published) arXiv project video URL BibTeX
Haptic Intelligence Miscellaneous Haptify: A Measurement System for Benchmarking Grounded Force-Feedback Devices Fazlollahi, F., Kuchenbecker, K. J. Extended abstract (3 pages) presented at the German Robotics Conference (GRC), Nuremberg, Germany , March 2025 (Published) BibTeX
Empirical Inference Ph.D. Thesis Learning to Generalize Across Distribution Shifts Träuble, F. J. University of Tübingen, Germany, March 2025, (IMPRS-PhD-Fellowship-Program and ELLIS-PhD-Fellowship-Program) (Published) BibTeX
Haptic Intelligence Conference Paper My Robot, My Motion: Expressive Real-Time Teleoperation Mohan, M., Kuchenbecker, K. J. In Companion of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), Hands-on demonstration presented at the ACM/IEEE International Conference on Human-Robot Interaction (HRI), Melbourne, Australia, March 2025 (Published) BibTeX
Empirical Inference Article Real-time inference for binary neutron star mergers using machine learning Dax, M., Green, S. R., Gair, J., Gupte, N., Pürrer, M., Raymond, V., Wildberger, J., Macke, J. H., Buonanno, A., Schölkopf, B. Nature, 639(8053):49-53, March 2025 (Published) DOI URL BibTeX
Perceiving Systems Conference Paper CameraHMR: Aligning People with Perspective Patel, P., Black, M. J. In International Conference on 3D Vision (3DV), International Conference on 3D Vision, March 2025 (Published) arXiv project BibTeX
Perceiving Systems Conference Paper CHOIR: A Versatile and Differentiable Hand-Object Interaction Representation Morales, T., Taheri, O., Lacey, G. In Winter Conference on Applications of Computer Vision (WACV), February 2025 (Published) GitHub Paper URL BibTeX
Rationality Enhancement Article Evaluating the Effectiveness of the InsightApp: A Longitudinal Randomized Controlled Trial on Anxiety, Valued Action, and Psychological Resilience Amo, V., Lieder, F. JMIR Mental Health, 12:e57201, February 2025 (Published) DOI URL BibTeX
Empirical Inference Conference Paper Why AI Is WEIRD and Should Not Be This Way: Towards AI For Everyone, With Everyone, By Everyone Mihalcea*, R., Ignat*, O., Bai, L., Borah, A., Chiruzzo, L., Jin, Z., Kwizera, C., Nwatu, J., Poria, S., Solorio, T. The Thirty-Nineth AAAI Conference on Artificial Intelligence, AAAI 2025 (Senior Member Presentation Track), AAAI Press, February 2025, *equal contribution (Accepted) URL BibTeX
Haptic Intelligence Perceiving Systems Article Wrist-to-Wrist Bioimpedance Can Reliably Detect Discrete Self-Touch Forte, M., Vardar, Y., Javot, B., Kuchenbecker, K. J. IEEE Transactions on Instrumentation and Measurement, 74(4006511):1-11, February 2025 (Published) DOI BibTeX
Dynamic Locomotion Article How knee muscles and ground reaction forces shape knee buckling and ankle push-off in neuromuscular simulations of human walking Buchmann, A., Kiss, B., Badri-Spröwitz, A., Renjewski, D. Scientific Reports, 15:2249, January 2025 (Published) DOI URL BibTeX
Deep Models and Optimization Conference Paper Geometric Inductive Biases of Deep Networks: The Role of Data and Architecture Movahedi, S., Orvieto, A., Moosavi-Dezfooli, S. In The Thirteenth International Conference on Learning Representations, ICLR 2025, The Thirteenth International Conference on Learning Representations, January 2025 (Accepted) BibTeX