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Dynamic Locomotion

Embodied Vision

Human Aspects of Machine Learning

Intelligent Control Systems

Learning and Dynamical Systems

Locomotion in Biorobotic and Somatic Systems

Micro, Nano, and Molecular Systems

Movement Generation and Control

Neural Capture and Synthesis

Physics for Inference and Optimization

Organizational Leadership and Diversity

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Robot Learning

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2022

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Empirical Inference Probabilistic Learning Group Conference Paper Automatic Bayesian Density Analysis Vergari, A., Molina, A., Peharz, R., Ghahramani, Z., Kersting, K., Valera, I. Proceedings of the AAAI Conference on Artificial Intelligence (AAAI-19), 33:01, 5207-5215, AAAI.org, AAAI-19, January 2019 (Published) arXiv DOI BibTeX
Micro, Nano, and Molecular Systems Article First Observation of Optical Activity in Hyper-Rayleigh Scattering Collins, J., Rusimova, K., Hooper, D., Jeong, H. H., Ohnoutek, L., Pradaux-Caggiano, F., Verbiest, T., Carbery, D., Fischer, P., Valev, V. Phys. Rev. X, 9(011024), January 2019
Chiral nano- or metamaterials and surfaces enable striking photonic properties, such as negative refractive index and superchiral light, driving promising applications in novel optical components, nanorobotics, and enhanced chiral molecular interactions with light. In characterizing chirality, although nonlinear chiroptical techniques are typically much more sensitive than their linear optical counterparts, separating true chirality from anisotropy is a major challenge. Here, we report the first observation of optical activity in second-harmonic hyper-Rayleigh scattering (HRS). We demonstrate the effect in a 3D isotropic suspension of Ag nanohelices in water. The effect is 5 orders of magnitude stronger than linear optical activity and is well pronounced above the multiphoton luminescence background. Because of its sensitivity, isotropic environment, and straightforward experimental geometry, HRS optical activity constitutes a fundamental experimental breakthrough in chiral photonics for media including nanomaterials, metamaterials, and chemical molecules.
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Physical Intelligence MPI Year Book "Jellyfishbot"- Ein Schwimmroboter inspiriert von Quallen / Scientists invent jellyfish-inspired swimming robot “Jellyfishbot” Ren, Z., Hu, W., Dong, X., Sitti, M. January 2019 (Published)
Am Max-Planck-Instituts für Intelligente Systeme in Stuttgart entwickeln wir einen Roboter, der wie eine Qualle aussieht und sich auch so bewegt: den "Jellyfishbot". Der nicht kabelgebundene Roboter verfügt wie sein natürliches Vorbild über eine schirmförmige Glocke und nachziehende Tentakel. Die Forschungsarbeit birgt großes Potenzial, sowohl die Auswirkungen von Umweltveränderungen auf die Ökosysteme der Ozeane zu untersuchen als auch die Behandlung von Krebs zu revolutionieren. ENGLISH: At the Max Planck Institute for Intelligent Systems in Stuttgart we develop a robot that looks and moves like a jellyfish, one of the world’s most common marine animals: the “jellyfishbot”. The untethered robot features an umbrella-shaped bell and trailing tentacles just like its natural model. The research holds great potential when investigating the impact of environmental changes on the oceans’ ecosystems. Another vision for the jellyfishbot is to revolutionize the treatment of cancer. Den gesamten Forschungsbeitrag finden Sie auf der Homepage der Max-Planck-Gesellschaft.
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Perceiving Systems MPI Year Book Colour patch could throw self-driving vehicles off track Ranjan, A., Janai, J., Geiger, A., Black, M. J. January 2019 (Published)
In our team of researchers at the Max-Planck-Institute for Intelligent Systems in Tübingen we show that optical flow systems based on deep neural networks – a likely component of future autonomous cars – are vulnerable to adversarial attacks. The computer vision experts are shaking up the automotive industry by warning car manufacturers around the globe that it could take a simple color pattern to put the brakes on computer vision systems in autonomous cars. The full article can be read on the website of the Max Planck Society.
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Theory of Inhomogeneous Condensed Matter Article Active rotational dynamics of a self-diffusiophoretic colloidal motor Reigh, S., Huang, M., Löwen, H., Lauga, E., Kapral, R. Soft Matter, 16(5):1236-1245, 2019 (Published) DOI BibTeX
Physical Intelligence Article 3D-printed biodegradable microswimmer for theranostic cargo delivery and release Ceylan, H., Yasa, I. C., Yasa, O., Tabak, A. F., Giltinan, J., Sitti, M. ACS Nano, 13(3):3353-3362, ACS Publications, 2019 BibTeX
Physical Intelligence Article 3D‐printed microrobotic transporters with recapitulated stem cell niche for programmable and active cell delivery Yasa, I. C., Tabak, A. F., Yasa, O., Ceylan, H., Sitti, M. Advanced Functional Materials, 29(17):1808992, 2019 DOI BibTeX
Article A Distributed ADMM Approach to Non-Myopic Path Planning for Multi-Target Tracking Park, S., Min, Y., Ha, J., Cho, D., Choi, H. IEEE Access, 7:163589-163603, IEEE, New York, NY, 2019 DOI BibTeX
Movement Generation and Control Article A Robustness Analysis of Inverse Optimal Control of Bipedal Walking Rebula, J. R., Schaal, S., Finley, J., Righetti, L. IEEE Robotics and Automation Letters, 4(4):4531-4538, 2019 (Published) DOI BibTeX
Physical Intelligence Conference Paper A bio-inspired robotic fish fin with mechanosensation using conductive liquid-metal-infused soft actuators Liu, Z., Sun, W., Ren, Z., Hu, K., Wang, T., Wen, L. 2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER 2019), 689-694, IEEE, Piscataway, NJ, IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER 2019) , 2019 (Published) DOI URL BibTeX
Physical Intelligence Article A force-measuring and behaviour-recording system consisting of 24 individual 3D force plates for the study of single limb forces in climbing animals on a quasi-cylindrical tower Ji, A., Yuan, S., Endlein, T., Hill, I. D., Wang, W., Wang, H., Jiang, N., Zhao, Z., Barnes, W. J. P., Dai, Z. Bioinspiration \& biomimetics, 14(4):046004, IOP Publishing, 2019 BibTeX
Physical Intelligence Article A general electromechanical model for plates with integrated piezo-patches using spectral-Tchebychev method Aghakhani, A., Motlagh, P. L., Bediz, B., Basdogan, I. Journal of Sound and Vibration, 458:74-88, Elsevier, 2019 BibTeX
Physical Intelligence Patent A liquid repellent fibrillar dry adhesive material and a method of producing the same Sitti, M., Liimatainen, V. 2019, EP Patent App. 19 218 616.1, Dec.2019 BibTeX
Empirical Inference Miscellaneous ABCDP: Approximate Bayesian Computation Meets Differential Privacy Park, M., Jitkrittum, W. 2019 (Submitted) arXiv BibTeX
Theory of Inhomogeneous Condensed Matter Article Active Janus colloids at chemically structured surfaces Uspal, W. E., Popescu, M. N., Dietrich, S., Tasinkevych, M. The Journal of Chemical Physics, 150(20):204904, American Institute of Physics, Woodbury, N.Y., 2019 DOI BibTeX
Micro, Nano, and Molecular Systems Master Thesis Active matter and self propelled microparticles Kottapalli, S. N. M. Univ. of Stuttgart, 2019 BibTeX
Empirical Inference Ph.D. Thesis Advances in Probabilistic Modelling: Sparse Gaussian Processes, Autoencoders, and Few-shot Learning Bauer, M. University of Cambridge, UK, 2019 (Published) BibTeX
Empirical Inference Article Analysis of cause-effect inference by comparing regression errors Blöbaum, P., Janzing, D., Washio, T., Shimizu, S., Schölkopf, B. PeerJ Computer Science, 5:e169, 2019 (Published) DOI BibTeX
Modern Magnetic Systems Article Anatomy of Skyrmionic Textures in Magnetic Multilayers Li, W., Bykova, I., Zhang, S., Yu, G., Tomasello, R., Carpentieri, M., Liu, Y., Guang, Y., Gräfe, J., Weigand, M., Burn, D. M., Laan, G. V. D., Hesjedal, T., Yan, Z., Feng, J., Wan, C., Wei, J., Wang, X., Zhang, X., Xu, H., et al. Advanced Materials, 31:1807683, 2019
Room temperature magnetic skyrmions in magnetic multilayers are considered as information carriers for future spintronic applications. Currently, a detailed understanding of the skyrmion stabilization mechanisms is still lacking in these systems. To gain more insight, it is first and foremost essential to determine the full real‐space spin configuration. Here, two advanced X‐ray techniques are applied, based on magnetic circular dichroism, to investigate the spin textures of skyrmions in [Ta/CoFeB/MgO]n multilayers. First, by using ptychography, a high‐resolution diffraction imaging technique, the 2D out‐of‐plane spin profile of skyrmions with a spatial resolution of 10 nm is determined. Second, by performing circular dichroism in resonant elastic X‐ray scattering, it is demonstrated that the chirality of the magnetic structure undergoes a depth‐dependent evolution. This suggests that the skyrmion structure is a complex 3D structure rather than an identical planar texture throughout the layer stack. The analyses of the spin textures confirm the theoretical predictions that the dipole–dipole interactions together with the external magnetic field play an important role in stabilizing sub‐100 nm diameter skyrmions and the hybrid structure of the skyrmion domain wall. This combined X‐ray‐based approach opens the door for in‐depth studies of magnetic skyrmion systems, which allows for precise engineering of optimized skyrmion heterostructures.
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Materials Article Anomalous formation of micrometer-thick amorphous oxide surficial layers during high-temperature oxidation of ZrAl2 Hu, Z., Xu, Y., Chen, Y., Schützendübe, P., Wang, J., Huang, Y., Liu, Y., Wang, Z. Journal of Materials Science & Technology, 35(7):1479-1484, Editorial Board of Journal of Materials Science and Technology, Shenyang, China, 2019 DOI BibTeX
Materials Article Asymmetry of interface reactions in Ag-Sn thin film couples—In-situ synchrotron radiation study Zotov, N., Schützendübe, P. Journal of Applied Physics, 125(21):215302, AIP Publishing, New York, NY, 2019 DOI BibTeX
Materials Article Beyond dealloying: development of nanoporous gold via metal-induced crystallization and its electrochemical properties Zhang, A., Wang, J., Schützendübe, P., Liang, H., Huang, Y., Wang, Z. Nanotechnology, 30(37):375601, IOP Pub., Bristol, UK, 2019 DOI BibTeX
Physical Intelligence Article Bio-inspired composite microfibers for strong and reversible adhesion on smooth surfaces Drotlef, D., Dayan, C., Sitti, M. Integrative and comparative biology, 59(1):227-235, 2019 BibTeX
Movement Generation and Control Article Birch tar production does not prove Neanderthal behavioral complexity Schmidt, P., Blessing, M., Rageot, M., Iovita, R., Pfleging, J., Nickel, K. G., Righetti, L., Tennie, C. Proceedings of the National Academy of Sciences (PNAS), 116(36):17707-17711, 2019 (Published) DOI BibTeX
Modern Magnetic Systems Article Bistability of magnetic states in Fe-Pd nanocap arrays Aravind, P. B., Heigl, M., Fix, M., Groß, F., Gräfe, J., Mary, A., Rajgowrav, C. R., Krupiński, M., Marszałek, M., Thomas, S., Anantharaman, M. R., Albrecht, M. Nanotechnology, 30:405705, 2019
Magnetic bistability between vortex and single domain states in nanostructures are of great interest from both fundamental and technological perspectives. In soft magnetic nanostructures, the transition from a uniform collinear magnetic state to a vortex state (or vice versa) induced by a magnetic field involves an energy barrier. If the thermal energy is large enough for overcoming this energy barrier, magnetic bistability with a hysteresis-free switching occurs between the two magnetic states. In this work, we tune this energy barrier by tailoring the composition of FePd alloys, which were deposited onto self-assembled particle arrays forming magnetic vortex structures on top of the particles. The bifurcation temperature, where a hysteresis-free transition occurs, was extracted from the temperature dependence of the annihilation and nucleation field which increases almost linearly with Fe content of the magnetic alloy. This study provides insights into the magnetization reversal process associated with magnetic bistability, which allows adjusting the bifurcation temperature range by the material properties of the nanosystem.
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Statistical Learning Theory Conference Paper Boosting for Comparison-Based Learning Perrot, M., von Luxburg, U. International Joint Conference on Artificial Intelligence (IJCAI), 2019 BibTeX
Empirical Inference Article Brainglance: Visualizing Group Level MRI Data at One Glance Stelzer, J., Lacosse, E., Bause, J., Scheffler, K., Lohmann, G. Frontiers in Neuroscience, 13(972), 2019 (Published) DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Brownian dynamics assessment of enhanced diffusion exhibited by "fluctuating-dumbbell enzymes". Kondrat, S., Popescu, M. N. Physical Chemistry Chemical Physics, 21(35):18811-18815, Royal Society of Chemistry, Cambridge, England, 2019 DOI BibTeX
Physical Intelligence Article Cancer-selective nanoparticles for combinatorial siRNA delivery to primary human GBM in vitro and in vivo Kozielski, K. L., Ruiz-Valls, A., Tzeng, S. Y., Guerrero-Cázares, H., Rui, Y., Li, Y., Vaughan, H. J., Gionet-Gonzales, M., Vantucci, C., Kim, J., others, Biomaterials, 209:79-87, Elsevier, 2019 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Charge regulation radically modifies electrostatics in membrane stacks Majee, A., Bier, M., Blossey, R., Podgornik, R. Physical Review E, 100(5):050601, American Physical Society, Melville, NY, 2019 DOI BibTeX
Locomotion in Biorobotic and Somatic Systems Conference Paper Co-Contraction facilitates Body Stiffness Modulation during Swimming with Sensory Feedback in a Soft Biorobotic Physical Model Jusufi, A., Vogt, D., Wood, R. J. In Integrative and Comparative Biology, 59(Supplement 1):E116-E116, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2019), 2019 DOI URL BibTeX
Theory of Inhomogeneous Condensed Matter Article Comment on "Which interactions dominate in active colloids?" [J. Chem. Phys. 150, 061102 (2019)] Popescu, M. N., Dominguez, A., Uspal, W. E., Tasinkevych, M., Dietrich, S. The Journal of Chemical Physics, 151(6):067101, American Institute of Physics, Woodbury, N.Y., 2019 DOI BibTeX
Empirical Inference Article Compatible natural gradient policy search Pajarinen, J., Thai, H. L., Akrour, R., Peters, J., Neumann, G. Machine Learning, 108(8):1443-1466, 2019 (Published) DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Connections Matter: On the Importance of Pore Percolation for Nanoporous Supercapacitors Vasilyev, O., Kornyshev, A. A., Kondrat, S. ACS Applied Energy Materials, 2(8):5386-5390, American Chemical Society, Washington, DC, 2019 DOI BibTeX
Modern Magnetic Systems Materials Article Controlling dislocation nucleation-mediated plasticity in nanostructures via surface modification Shin, J., Chen, L. Y., Sanli, U. T., Richter, G., Labat, S., Richard, M., Cornelius, T., Thomas, O., Gianola, D. S. Acta Materialia, 166:572-586, Elsevier Science, Kidlington, 2019 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Bachelor Thesis Controlling pattern formation in the confined Schnakenberg model Beyer, D. B. Universität Stuttgart, Stuttgart, 2019 BibTeX
Theory of Inhomogeneous Condensed Matter Article Controlling the dynamics of colloidal particles by critical Casimir forces Magazzù, A., Callegari, A., Staforelli, J. P., Gambassi, A., Dietrich, S., Volpe, G. Soft Matter, 15(10):2152-2162, Royal Society of Chemistry, Cambridge, UK, 2019 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Correlations and forces in sheared fluids with or without quenching Rohwer, C. M., Maciolek, A., Dietrich, S., Krüger, M. New Journal of Physics, 21:073029, IOP Publishing, Bristol, 2019 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Criticality senses topology Vasilyev, O. A., Maciolek, A., Dietrich, S. EPL, 128(2):20002, EDP Science, Les-Ulis, 2019 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Current-mediated synchronization of a pair of beating non-identical flagella Dotsenko, V., Maciolek, A., Oshanin, G., Vasilyev, O., Dietrich, S. New Journal of Physics, 21:033036, IOP Publishing, Bristol, 2019 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Curvature affects electrolyte relaxation: Studies of spherical and cylindrical electrodes Janssen, M. Physical Review E, 100(4):042602, American Physical Society, Melville, NY, 2019 DOI BibTeX
Physical Intelligence Article Cutting the cord: progress in untethered soft robotics and actuators Li, M., Ostrovsky-Snider, N. A., Sitti, M., Omenetto, F. G. MRS Advances, 4(51-52):2787-2804, 2019 DOI BibTeX
Dynamic Locomotion Book Chapter Das Tier als Modell für Roboter, und Roboter als Modell für Tiere Badri-Spröwitz, A. In 167-175, Springer, 2019 DOI BibTeX
Empirical Inference Probabilistic Numerics Article Dense connectomic reconstruction in layer 4 of the somatosensory cortex Motta, A., Berning, M., Boergens, K. M., Staffler, B., Beining, M., Loomba, S., Hennig, P., Wissler, H., Helmstaedter, M. Science, 366(6469):eaay3134, 2019 (Published) DOI BibTeX
Conference Paper Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning –Extended Abstract Toussaint, M., Allen, K. R., Smith, K. A., Tenenbaum, J. B. In Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence (IJCAI-19), 6231-6235, (Editors: Kraus, Sarit), International Joint Conferences on Artificial Intelligence, California, Twenty-Eighth International Joint Conference on Artificial Intelligence (IJCAI 2019), 2019 DOI URL BibTeX
Theory of Inhomogeneous Condensed Matter Article Drag Force for Asymmetrically Grafted Colloids in Polymer Solutions Werner, M., Malgaretti, P., Maciolek, A. Frontiers in Physics, 7:122, Frontiers Media, Lausanne, 2019 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Driving an electrolyte through a corrugated nanopore Malgaretti, P., Janssen, M., Pagonabarraga, I., Rubi, J. M. The Journal of Chemical Physics, 151(8):084902, American Institute of Physics, Woodbury, N.Y., 2019 DOI BibTeX
Physics for Inference and Optimization Master Thesis Dynamic hierarchical ranking in directed networks: from static SpringRank to dynamic and bayesian models using variational techniques Vecchia, A. D. Università degli studi di Padova, 2019 pdf BibTeX
Theory of Inhomogeneous Condensed Matter Article Dynamics near planar walls for various model self-phoretic particles Bayati, P., Popescu, M. N., Uspal, W. E., Dietrich, S., Najafi, A. Soft Matter, 15(28):5644-5672, Royal Society of Chemistry, Cambridge, UK, 2019 DOI BibTeX
Micro, Nano, and Molecular Systems Ph.D. Thesis Dynamics of self-propelled colloids and their application as active matter Choudhury, U. University of Groningen, Zernike Institute for Advanced Materials, 2019
In this thesis, the behavior of active particles spanning from single particle dynamics to collective behavior of many particles is explored. Active colloids are out-of equilibrium systems that have been studied extensively over the past 15 years. This thesis addresses several phenomena that arise in the field of active colloids.
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