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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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Locomotion in Biorobotic and Somatic Systems Conference Paper Modulation of Cranio-Caudal mass distribution facilitates obstacle traversal in a cursorial biorobotic model Siddall, R. J. D., Jusufi, A. In Integrative and Comparative Biology, 60(Supplement 1):E214-E214, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2020), 2020 DOI URL BibTeX
Article Motion Planning Explorer: Visualizing Local Minima Using a Local-Minima Tree Orthey, A., Frész, B., Toussaint, M. IEEE Robotics and Automation Letters, 5(2):346-353, IEEE, New York, NY, 2020 DOI BibTeX
Empirical Inference Article Multi-Channel Interactive Reinforcement Learning for Sequential Tasks Koert, D., Kircher, M., Salikutluk, V., D’Eramo, C., Peters, J. Frontiers in Robotics and AI, 7(September), 2020 (Published) DOI BibTeX
Empirical Inference Article Multi-Sensor Next-Best-View Planning as Matroid-Constrained Submodular Maximization Lauri, M., Pajarinen, J., Peters, J., Frintrop, S. IEEE Robotics and Automation Letters, 5(4):5323-5300, 2020 (Published) DOI BibTeX
Physical Intelligence Bioinspired Autonomous Miniature Robots Article Multifunctional magnetic soft composites: a review Wu, S., Hu, W., Ze, Q., Sitti, M., Zhao, R. Multifunctional Materials, 3(4):042003, 2020 DOI URL BibTeX
Physical Intelligence Article Multifunctional surface microrollers for targeted cargo delivery in physiological blood flow Alapan, Y., Bozuyuk, U., Erkoc, P., Karacakol, A. C., Sitti, M. Science Robotics, 5(42):eaba5726, 2020 (Published) DOI URL BibTeX
Physical Intelligence Article Multiwavelength-steerable visible-light-driven magnetic CoO-TiO2 microswimmers Sridhar, V., Park, B., Guo, S., van Aken, P. A., Sitti, M. ACS Applied Materials & Interfaces, 12(21):24149-24155, 2020 DOI BibTeX
Article Muscles Reduce Neuronal Information Load: Quantification of Control Effort in Biological vs. Robotic Pointing and Walking Haeufle, D. F. B., Wochner, I., Holzmüller, D., Driess, D., Günther, M., Schmitt, S. Frontiers in Robotics and AI, 7, Frontiers Media, Lausanne, 2020 DOI BibTeX
Physical Intelligence Article Nanoerythrosome-functionalized biohybrid microswimmers Buss, N., Yasa, O., Alapan, Y., Akolpoglu, M. B., Sitti, M. APL Bioengineering, 4(2):026103, 2020 (Published) DOI BibTeX
Modern Magnetic Systems Article Nanoimaging of ultrashort magnon emission by ferromagnetic grating couplers at GHz frequencies Baumgaertl, K., Gräfe, J., Che, P., Mucchietto, A., Förster, J., Träger, N., Bechtel, M., Weigand, M., Schütz, G., Grundler, D. Nano Letters, 20(10):7281-7286, American Chemical Society, Washington, DC, 2020 DOI BibTeX
Modern Magnetic Systems Article Noncollinear antiferromagnetic order in the buckled honeycomb lattice of magnetoelectric Co4Ta2O9 determined by single-crystal neutron diffraction Choi, S., Oh, D. G., Gutmann, M. J., Pan, S., Kim, G., Son, K., Kim, J., Lee, N., Cheong, S., Choi, Y. J., et al. Physical Review B, 102(21), American Physical Society, Woodbury, NY, 2020 DOI BibTeX
Embodied Vision Empirical Inference Article Numerical Quadrature for Probabilistic Policy Search Vinogradska, J., Bischoff, B., Achterhold, J., Koller, T., Peters, J. IEEE Transactions on Pattern Analysis and Machine Intelligence, 42(1):164-175, 2020 (Published) DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Numerical simulations of self-diffusiophoretic colloids at fluid interfaces Peter, T., Malgaretti, P., Rivas, N., Scagliarini, A., Harting, J., Dietrich, S. Soft Matter, 16(14):3536-3547, Royal Society of Chemistry, Cambridge, UK, 2020 DOI BibTeX
Modern Magnetic Systems Article Observation of compact ferrimagnetic skyrmions in DyCo3 fim Chen, K., Lott, D., Philippi-Kobs, A., Weigand, M., Luo, C., Radu, F. Nanoscale, 12(35):18137-18143, Royal Society of Chemistry, Cambridge, UK, 2020 DOI BibTeX
Autonomous Vision Conference Paper On Joint Estimation of Pose, Geometry and svBRDF from a Handheld Scanner Schmitt, C., Donne, S., Riegler, G., Koltun, V., Geiger, A. In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), 2020 pdf Project Page Slides Video Poster BibTeX
Human Aspects of Machine Learning Conference Paper On the Compressibility of Affinely Singular Random Vectors Charusaie, M., Rini, S., Amini, A. On the Compressibility of Affinely Singular Random Vectors, 2240-2245, 2020 DOI BibTeX
Intelligent Control Systems Article Online learning with stability guarantees: A memory-based warm starting for real-time MPC Schwenkel, L., Gharbi, M., Trimpe, S., Ebenbauer, C. Automatica, 122:109247, 2020 (Published) DOI BibTeX
Physical Intelligence Article Paper-based microchip electrophoresis for point-of-care hemoglobin testing Hasan, M. N., Fraiwan, A., An, R., Alapan, Y., Ung, R., Akkus, A., Xu, J. Z., Rezac, A. J., Kocmich, N. J., Creary, M. S., et al. The Analyst, 145(7):2525-2542, 2020 DOI URL BibTeX
Theory of Inhomogeneous Condensed Matter Article Particles, string and interface in the three-dimensional Ising model Delfino, G., Selke, W., Squarcini, A. Nuclear Physics (Amsterdam) B, 958:115139, North-Holland, Amsterdam, 2020 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Passive advection of fractional Brownian motion by random layered flows Squarcini, A., Marinari, E., Oshanin, G. New Journal of Physics, 22(5):053052, IOP Publishing, Bristol, 2020 DOI BibTeX
Physical Intelligence Article Peeling the layers back: examining the roles of capillary adhesion and material softening on gecko and gecko-inspired synthetic adhesive performance in variable temperature and humidity Mitchell, C. T., Drotlef, D., Dayan, C. B., Sitti, M., Stark, A. Y. Integrative and Comparative Biology, 60:E163-E163, 2020 DOI BibTeX
Empirical Inference Conference Paper Physically constrained causal noise models for high-contrast imaging of exoplanets Gebhard, T. D., Bonse, M. J., Quanz, S. P., Schölkopf, B. Machine Learning and the Physical Sciences - Workshop at the 34th Conference on Neural Information Processing Systems (NeurIPS), 2020 (Published) arXiv BibTeX
Embodied Vision Conference Paper Planning from Images with Deep Latent Gaussian Process Dynamics Bosch, N., Achterhold, J., Leal-Taixe, L., Stückler, J. Proceedings of the 2nd Conference on Learning for Dynamics and Control (L4DC), 120:640-650, Proceedings of Machine Learning Research (PMLR), (Editors: Alexandre M. Bayen and Ali Jadbabaie and George Pappas and Pablo A. Parrilo and Benjamin Recht and Claire Tomlin and Melanie Zeilinger), 2020, preprint arXiv:2005.03770 (Published) Ppreprint Project page Code poster URL BibTeX
Materials Article Plastic Forming of Metals at the Nanoscale: Interdiffusion-Induced Bending of Bimetallic Nanowhiskers Qi, Y., Richter, G., Suadiye, E., Kalina, M., Rabkin, E. ACS Nano, 14(9):11691-11699, American Chemical Society, Washington, DC, 2020 (Published) DOI BibTeX
Empirical Inference Article Plucking Motions for Tea Harvesting Robots Using Probabilistic Movement Primitives Motokura, K., Takahashi, M., Ewerton, M., Peters, J. IEEE Robotics and Automation Letters, 5(2):3275-3282, 2020 (Published) DOI BibTeX
Physical Intelligence Article Poly(ethylene glycol)–poly(beta-amino ester)-based nanoparticles for suicide gene therapy enhance brain penetration and extend survival in a preclinical human glioblastoma orthotopic xenograft model Kim, J., Mondal, S. K., Tzeng, S. Y., Rui, Y., Al-kharboosh, R., Kozielski, K. K., Bhargav, A. G., Garcia, C. A., Quiñones-Hinojosa, A., Green, J. J. ACS Biomaterials Science & Engineering, 6(5):2943-2955, 2020 DOI URL BibTeX
Autonomous Motion Conference Paper Prediction of Human Full-Body Movements with Motion Optimization and Recurrent Neural Networks Kratzer, P., Toussaint, M., Mainprice, J. In 2020 IEEE International Conference on Robotics and Automation (ICRA 2020), 1792-1798, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2020), 2020 (Published) DOI BibTeX
Probabilistic Learning Group Article Preliminary Results on Different Text Processing Tasks Using Encoder-Decoder Networks and the Causal Feature Extractor Javaloy, A. G. G. Applied Sciences, 10(17):5772, 2020 (Published) DOI BibTeX
Empirical Inference Article Probabilistic Approach to Physical Object Disentangling Pajarinen, J., Arenz, O., Peters, J., Neumann, G. IEEE Robotics and Automation Letters, 5(4):5510-5517, 2020 (Published) DOI BibTeX
Micro, Nano, and Molecular Systems Patent Propeller and method in which a propeller is set into motion Qui, T., Fischer, P. (US20200031010A1), 2020 BibTeX
Physical Intelligence Article Pros and cons: magnetic versus optical microrobots Sitti, M., Wiersma, D. S. Advanced Materials, 32(20):1906766, 2020 DOI BibTeX
Modern Magnetic Systems Article Ptychographic imaging and micromagnetic modeling of thermal melting of nanoscale magnetic domains in antidot lattices Gräfe, J., Skripnik, M., Dieterle, G., Haering, F., Weigand, M., Bykova, I., Träger, N., Stoll, H., Tyliszczak, T., Vine, D., et al. AIP Advances, 10(12), American Institute of Physics, Melville, NY, USA, 2020 DOI BibTeX
Modern Magnetic Systems Article Quantification of competing magnetic states and switching pathways in curved nanowires by direct dynamic imaging Schönke, D., Reeve, R. M., Stoll, H., Kläui, M. ACS Nano, 14(10):13324-13332, American Chemical Society, Washington, DC, 2020 DOI BibTeX
Materials Article Rational strain engineering in delafossite oxides for highly efficient hydrogen evolution catalysis in acidic media Podjaski, F., Weber, D., Zhang, S. Y., Diehl, L., Eger, R., Duppel, V., Alarcon-Llado, E., Richter, G., Haase, F., Morral, A. F. I., et al. Nature Catalysis, 3(1):55-63, 2020 DOI BibTeX
Physical Intelligence Article Recent advances in plant nanobionics and nanobiosensors for toxicology applications Ansari, M. H., Lavhale, S., Kalunke, R. M., Srivastava, P. L., Pandit, V., Gade, S., Yadav, S., Laux, P., Luch, A., Gemmati, D., et al. Current Nanoscience, 16(1):27-41, 2020 DOI BibTeX
Physical Intelligence Article Reconfigurable multifunctional ferrofluid droplet robots Fan, X., Dong, X., Karacakol, A. C., Xie, H., Sitti, M. Proceedings of the National Academy of Sciences, 117(45):27916-27926, 2020 DOI URL BibTeX
Modern Magnetic Systems Article Reconfigurable submicrometer spin-wave majority gate with electrical transducers Talmelli, G., Devolder, T., Träger, N., Förster, J., Wintz, S., Weigand, M., Stoll, H., Heyns, M., Schütz, G., Radu, I. P., et al. Science Advances, 6(51), AAAS, Washington, 2020 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Reconfiguring confined magnetic colloids with tunable fluid transport behavior Sheng, Z., Zhang, M., Liu, J., Malgaretti, P., Li, J., Wang, S., Lv, W., Zhang, R., Fan, Y., Zhang, Y., et al. National Science Review, 8(5):nwaa301, Oxford University Press, Oxford, 2020 DOI BibTeX
Physical Intelligence Article Reprogrammable shape morphing of magnetic soft machines Alapan, Y., Karacakol, A. C., Guzelhan, S. N., Isik, I., Sitti, M. Science Advances, 6(38):eabc6414, 2020 DOI URL BibTeX
Modern Magnetic Systems Article Research trend of metal-organic frameworks for magnetic refrigeration materials application Kim, S., Son, K., Oh, H. Korean Journal of Materials Research, 30(3):136-141, Materials Society of Korea, Seoul, 2020 DOI BibTeX
Proceedings Robotics: Science and System XVI RSS Foundation, Corvalis, OR, 2020 BibTeX
Conference Paper Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning Hartmann, V. N., Oguz, O. S., Driess, D., Toussaint, M., Menges, A. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), 6886-6893, IEEE, Piscataway, NJ, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), 2020 (Published) DOI BibTeX
Empirical Inference Article SCIM: universal single-cell matching with unpaired feature sets Stark, S. G., Ficek, J., Locatello, F., Bonilla, X., Chevrier, S., Singer, F., Tumor Profiler Consortium, , Rätsch, G., Lehmann, K. Bioinformatics, 36:i919-i927, 2020, Supplement\textunderscore2 (Published) DOI BibTeX
Intelligent Control Systems Autonomous Motion Article Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control Nubert, J., Koehler, J., Berenz, V., Allgower, F., Trimpe, S. IEEE Robotics and Automation Letters, 5(2):3050-3057, 2020 (Published) arXiv PDF DOI BibTeX
Empirical Inference Conference Paper Sample-Efficient Reinforcement Learning via Counterfactual-Based Data Augmentation Lu, C., Huang, B., Wang, K., Hernández-Lobato, J. M., Zhang, K., Schölkopf, B. Offline Reinforcement Learning - Workshop at the 34th Conference on Neural Information Processing Systems (NeurIPS), 2020 (Published) arXiv URL BibTeX
Autonomous Learning Embodied Vision Conference Paper Sample-efficient Cross-Entropy Method for Real-time Planning Pinneri, C., Sawant, S., Blaes, S., Achterhold, J., Stueckler, J., Rolinek, M., Martius, G. In Conference on Robot Learning 2020, 2020 (Published) Paper Code Spotlight-Video URL BibTeX
Physical Intelligence Article Selection for function: from chemically synthesized prototypes to 3D-printed microdevices Bachmann, F., Giltinan, J., Codutti, A., Klumpp, S., Sitti, M., Faivre, D. Advanced Intelligent Systems, 2(10):2000078, 2020 DOI BibTeX
Physical Intelligence Article Selectively controlled magnetic microrobots with opposing helices Giltinan, J., Katsamba, P., Wang, W., Lauga, E., Sitti, M. Applied Physics Letters, 116(13):134101, 2020 (Published) DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Self-motility of an active particle induced by correlations in the surrounding solution Domínguez, A., Popescu, M. N., Rohwer, C. M., Dietrich, S. Physical Review Letters, 125(26):268002, 2020 DOI URL BibTeX
Autonomous Vision Article Self-supervised motion deblurring Liu, P., Janai, J., Pollefeys, M., Sattler, T., Geiger, A. IEEE Robotics and Automation Letters, 2020 pdf Project Page Blog BibTeX