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528 results (View BibTeX file of all listed publications)
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Koopman Spectral Analysis Uncovers the Temporal Structure of Spontaneous Neural Events

Shao, K., Xu, Y., Logothetis, N., Shen, Z., Besserve, M.

Computational and Systems Neuroscience Meeting (COSYNE), March 2024 (poster)

ei

link (url) [BibTex]

ei Shao, K., Xu, Y., Logothetis, N., Shen, Z., Besserve, M. Koopman Spectral Analysis Uncovers the Temporal Structure of Spontaneous Neural Events Computational and Systems Neuroscience Meeting (COSYNE), March 2024 (poster)

link (url) [BibTex]

2023

Fairness in Machine Learning: Limitations and Opportunities
Fairness in Machine Learning: Limitations and Opportunities

Barocas, S., Hardt, M., Narayanan, A.

MIT Press, December 2023 (book)

Abstract
An introduction to the intellectual foundations and practical utility of the recent work on fairness and machine learning. Fairness and Machine Learning introduces advanced undergraduate and graduate students to the intellectual foundations of this recently emergent field, drawing on a diverse range of disciplinary perspectives to identify the opportunities and hazards of automated decision-making. It surveys the risks in many applications of machine learning and provides a review of an emerging set of proposed solutions, showing how even well-intentioned applications may give rise to objectionable results. It covers the statistical and causal measures used to evaluate the fairness of machine learning models as well as the procedural and substantive aspects of decision-making that are core to debates about fairness, including a review of legal and philosophical perspectives on discrimination. This incisive textbook prepares students of machine learning to do quantitative work on fairness while reflecting critically on its foundations and its practical utility.• Introduces the technical and normative foundations of fairness in automated decision-making• Covers the formal and computational methods for characterizing and addressing problems• Provides a critical assessment of their intellectual foundations and practical utility• Features rich pedagogy and extensive instructor resources

sf

link (url) [BibTex]

2023

sf Barocas, S., Hardt, M., Narayanan, A. Fairness in Machine Learning: Limitations and Opportunities MIT Press, December 2023 (book)

link (url) [BibTex]

An Open-Source Modular Treadmill for Dynamic Force Measurement with Load Dependant Range Adjustment
An Open-Source Modular Treadmill for Dynamic Force Measurement with Load Dependant Range Adjustment

Sarvestani, A., Ruppert, F., Badri-Spröwitz, A.

2023 (unpublished) Submitted

Abstract
Ground reaction force sensing is one of the key components of gait analysis in legged locomotion research. To measure continuous force data during locomotion, we present a novel compound instrumented treadmill design. The treadmill is 1.7 m long, with a natural frequency of 170 Hz and an adjustable range that can be used for humans and small robots alike. Here, we present the treadmill’s design methodology and characterize it in its natural frequency, noise behavior and real-life performance. Additionally, we apply an ISO 376 norm conform calibration procedure for all spatial force directions and center of pressure position. We achieve a force accuracy of ≤ 5.6 N for the ground reaction forces and ≤ 13 mm in center of pressure position.

dlg

arXiv link (url) DOI [BibTex]

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Natural Language Processing for Policymaking

Jin, Z., Mihalcea, R.

In Handbook of Computational Social Science for Policy, pages: 141-162, 7, (Editors: Bertoni, E. and Fontana, M. and Gabrielli, L. and Signorelli, S. and Vespe, M.), Springer International Publishing, 2023 (inbook)

ei

DOI [BibTex]

ei Jin, Z., Mihalcea, R. Natural Language Processing for Policymaking In Handbook of Computational Social Science for Policy, pages: 141-162, 7, (Editors: Bertoni, E. and Fontana, M. and Gabrielli, L. and Signorelli, S. and Vespe, M.), Springer International Publishing, 2023 (inbook)

DOI [BibTex]

2022

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Proceedings of the Second Workshop on NLP for Positive Impact (NLP4PI)

Biester, L., Demszky, D., Jin, Z., Sachan, M., Tetreault, J., Wilson, S., Xiao, L., Zhao, J.

Association for Computational Linguistics, December 2022 (proceedings)

ei

link (url) [BibTex]

2022

ei Biester, L., Demszky, D., Jin, Z., Sachan, M., Tetreault, J., Wilson, S., Xiao, L., Zhao, J. Proceedings of the Second Workshop on NLP for Positive Impact (NLP4PI) Association for Computational Linguistics, December 2022 (proceedings)

link (url) [BibTex]

Magnetic Micro-/Nanopropellers for Biomedicine
Magnetic Micro-/Nanopropellers for Biomedicine

Qiu, T., Jeong, M., Goyal, R., Kadiri, V., Sachs, J., Fischer, P.

In Field-Driven Micro and Nanorobots for Biology and Medicine, pages: 389-410, 16, (Editors: Sun, Y. and Wang, X. and Yu, J.), Springer, Cham, 2022 (inbook)

Abstract
In nature, many bacteria swim by rotating their helical flagella. A particularly promising class of artificial micro- and nano-robots mimic this propeller-like propulsion mechanism to move through fluids and tissues for applications in minimally-invasive medicine. Several fundamental challenges have to be overcome in order to build micro-machines that move similar to bacteria for in vivo applications. Here, we review recent advances of magnetically-powered micro-/nano-propellers. Four important aspects of the propellers – the geometrical shape, the fabrication method, the generation of magnetic fields for actuation, and the choice of biocompatible magnetic materials – are highlighted. First, the fundamental requirements are elucidated that arise due to hydrodynamics at low Reynolds (Re) number. We discuss the role that the propellers’ shape and symmetry play in realizing effective propulsion at low Re. Second, the additive nano-fabrication method Glancing Angle Deposition is discussed as a versatile technique to quickly grow large numbers of designer nano-helices. Third, systems to generate rotating magnetic fields via permanent magnets or electromagnetic coils are presented. And finally, the biocompatibility of the magnetic materials is discussed. Iron-platinum is highlighted due to its biocompatibility and its superior magnetic properties, which is promising for targeted delivery, minimally-invasive magnetic nano-devices and biomedical applications.

pf

link (url) DOI [BibTex]

pf Qiu, T., Jeong, M., Goyal, R., Kadiri, V., Sachs, J., Fischer, P. Magnetic Micro-/Nanopropellers for Biomedicine In Field-Driven Micro and Nanorobots for Biology and Medicine, pages: 389-410, 16, (Editors: Sun, Y. and Wang, X. and Yu, J.), Springer, Cham, 2022 (inbook)

link (url) DOI [BibTex]

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Life Improvement Science

Lieder, F., Prentice, M.

In Encyclopedia of Quality of Life and Well-Being Research, Springer, November 2022 (inbook)

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DOI [BibTex]

re Lieder, F., Prentice, M. Life Improvement Science In Encyclopedia of Quality of Life and Well-Being Research, Springer, November 2022 (inbook)

DOI [BibTex]

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Causality, causal digital twins, and their applications

Schölkopf, B.

Machine Learning for Science: Bridging Data-Driven and Mechanistic Modelling (Dagstuhl Seminar 22382), (Editors: Berens, Philipp and Cranmer, Kyle and Lawrence, Neil D. and von Luxburg, Ulrike and Montgomery, Jessica), September 2022 (talk)

ei

link (url) DOI [BibTex]

ei Schölkopf, B. Causality, causal digital twins, and their applications Machine Learning for Science: Bridging Data-Driven and Mechanistic Modelling (Dagstuhl Seminar 22382), (Editors: Berens, Philipp and Cranmer, Kyle and Lawrence, Neil D. and von Luxburg, Ulrike and Montgomery, Jessica), September 2022 (talk)

link (url) DOI [BibTex]

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Patterns, Predictions, and Actions: Foundations of Machine Learning

Hardt, M., Recht, B.

Princeton University Press, August 2022 (book)

Abstract
An authoritative, up-to-date graduate textbook on machine learning that highlights its historical context and societal impacts Patterns, Predictions, and Actions introduces graduate students to the essentials of machine learning while offering invaluable perspective on its history and social implications. Beginning with the foundations of decision making, Moritz Hardt and Benjamin Recht explain how representation, optimization, and generalization are the constituents of supervised learning. They go on to provide self-contained discussions of causality, the practice of causal inference, sequential decision making, and reinforcement learning, equipping readers with the concepts and tools they need to assess the consequences that may arise from acting on statistical decisions. Provides a modern introduction to machine learning, showing how data patterns support predictions and consequential actions Pays special attention to societal impacts and fairness in decision making Traces the development of machine learning from its origins to today Features a novel chapter on machine learning benchmarks and datasets Invites readers from all backgrounds, requiring some experience with probability, calculus, and linear algebra An essential textbook for students and a guide for researchers

sf

link (url) [BibTex]

sf Hardt, M., Recht, B. Patterns, Predictions, and Actions: Foundations of Machine Learning Princeton University Press, August 2022 (book)

link (url) [BibTex]

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Proceedings of the First Conference on Causal Learning and Reasoning (CLeaR 2022)

Schölkopf, B., Uhler, C., Zhang, K.

177, Proceedings of Machine Learning Research, PMLR, April 2022 (proceedings)

ei

link (url) [BibTex]

ei Schölkopf, B., Uhler, C., Zhang, K. Proceedings of the First Conference on Causal Learning and Reasoning (CLeaR 2022) 177, Proceedings of Machine Learning Research, PMLR, April 2022 (proceedings)

link (url) [BibTex]

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Causal Models for Dynamical Systems

Peters, J., Bauer, S., Pfister, N.

In Probabilistic and Causal Inference: The Works of Judea Pearl, pages: 671-690, 1, Association for Computing Machinery, 2022 (inbook)

ei

arXiv DOI [BibTex]

ei Peters, J., Bauer, S., Pfister, N. Causal Models for Dynamical Systems In Probabilistic and Causal Inference: The Works of Judea Pearl, pages: 671-690, 1, Association for Computing Machinery, 2022 (inbook)

arXiv DOI [BibTex]

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Towards Causal Algorithmic Recourse

Karimi, A. H., von Kügelgen, J., Schölkopf, B., Valera, I.

In xxAI - Beyond Explainable AI: International Workshop, Held in Conjunction with ICML 2020, July 18, 2020, Vienna, Austria, Revised and Extended Papers, pages: 139-166, (Editors: Holzinger, Andreas and Goebel, Randy and Fong, Ruth and Moon, Taesup and Müller, Klaus-Robert and Samek, Wojciech), Springer International Publishing, 2022 (inbook)

ei plg

DOI [BibTex]

ei plg Karimi, A. H., von Kügelgen, J., Schölkopf, B., Valera, I. Towards Causal Algorithmic Recourse In xxAI - Beyond Explainable AI: International Workshop, Held in Conjunction with ICML 2020, July 18, 2020, Vienna, Austria, Revised and Extended Papers, pages: 139-166, (Editors: Holzinger, Andreas and Goebel, Randy and Fong, Ruth and Moon, Taesup and Müller, Klaus-Robert and Samek, Wojciech), Springer International Publishing, 2022 (inbook)

DOI [BibTex]

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CLEVR-X: A Visual Reasoning Dataset for Natural Language Explanations

Salewski, L., Koepke, A. S., Lensch, H. P. A., Akata, Z.

In xxAI - Beyond Explainable AI: International Workshop, Held in Conjunction with ICML 2020, July 18, 2020, Vienna, Austria, Revised and Extended Papers, pages: 69-88, (Editors: Holzinger, Andreas and Goebel, Randy and Fong, Ruth and Moon, Taesup and Müller, Klaus-Robert and Samek, Wojciech), Springer International Publishing, 2022 (inbook)

ei

DOI [BibTex]

ei Salewski, L., Koepke, A. S., Lensch, H. P. A., Akata, Z. CLEVR-X: A Visual Reasoning Dataset for Natural Language Explanations In xxAI - Beyond Explainable AI: International Workshop, Held in Conjunction with ICML 2020, July 18, 2020, Vienna, Austria, Revised and Extended Papers, pages: 69-88, (Editors: Holzinger, Andreas and Goebel, Randy and Fong, Ruth and Moon, Taesup and Müller, Klaus-Robert and Samek, Wojciech), Springer International Publishing, 2022 (inbook)

DOI [BibTex]

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Causality for Machine Learning

Schölkopf, B.

In Probabilistic and Causal Inference: The Works of Judea Pearl, pages: 765-804, 1, Association for Computing Machinery, New York, NY, USA, 2022 (inbook)

ei

arXiv DOI [BibTex]

ei Schölkopf, B. Causality for Machine Learning In Probabilistic and Causal Inference: The Works of Judea Pearl, pages: 765-804, 1, Association for Computing Machinery, New York, NY, USA, 2022 (inbook)

arXiv DOI [BibTex]

2021

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Physically Plausible Tracking & Reconstruction of Dynamic Objects

Strecke, M., Stückler, J.

KIT Science Week Scientific Conference & DGR-Days 2021, October 2021 (talk)

ev

[BibTex]

2021

ev Strecke, M., Stückler, J. Physically Plausible Tracking & Reconstruction of Dynamic Objects KIT Science Week Scientific Conference & DGR-Days 2021, October 2021 (talk)

[BibTex]

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Electriflow: Augmenting Books With Tangible Animation Using Soft Electrohydraulic Actuators

Purnendu, , Novack, S., Acome, E., Alistar, M., Keplinger, C., Gross, M. D., Bruns, C., Leithinger, D.

In ACM SIGGRAPH 2021 Labs, pages: 1-2, Association for Computing Machinery, SIGGRAPH 2021, August 2021 (inbook)

Abstract
We present Electriflow: a method of augmenting books with tangible animation employing soft electrohydraulic actuators. These actuators are compact, silent and fast in operation, and can be fabricated with commodity materials. They generate an immediate hydraulic force upon electrostatic activation without an external fluid supply source, enabling a simple and self-contained design. Electriflow actuators produce an immediate shape transition from flat to folded state which enabled their seamless integration into books. For the Emerging Technologies exhibit, we will demonstrate the prototype of a book augmented with the capability of tangible animation.

rm

Supplemental Material link (url) DOI [BibTex]

rm Purnendu, , Novack, S., Acome, E., Alistar, M., Keplinger, C., Gross, M. D., Bruns, C., Leithinger, D. Electriflow: Augmenting Books With Tangible Animation Using Soft Electrohydraulic Actuators In ACM SIGGRAPH 2021 Labs, pages: 1-2, Association for Computing Machinery, SIGGRAPH 2021, August 2021 (inbook)

Supplemental Material link (url) DOI [BibTex]

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Proceedings of the 1st Workshop on NLP for Positive Impact

Field, A., Prabhumoye, S., Sap, M., Jin, Z., Zhao, J., Brockett, C.

Association for Computational Linguistics, August 2021 (proceedings)

ei

link (url) [BibTex]

ei Field, A., Prabhumoye, S., Sap, M., Jin, Z., Zhao, J., Brockett, C. Proceedings of the 1st Workshop on NLP for Positive Impact Association for Computational Linguistics, August 2021 (proceedings)

link (url) [BibTex]

Promoting metacognitive learning through systematic reflection
Promoting metacognitive learning through systematic reflection

Frederic Becker, , Lieder, F.

The first edition of Life Improvement Science Conference, June 2021 (poster)

Abstract
Human decision-making is sometimes systematically biased toward suboptimal decisions. For example, people often make short-sighted choices because they don't give enough weight to the long-term consequences of their actions. Previous studies showed that it is possible to overcome such biases by teaching people a more rational decision strategy through instruction, demonstrations, or practice with feedback. The benefits of these approaches tend to be limited to situations that are very similar to those used during the training. One way to overcome this limitation is to create general tools and strategies that people can use to improve their decision-making in any situation. Here we propose one such approach, namely directing people to systematically reflect on how they make their decisions. In systematic reflection, past experience is re-evaluated with the intention to learn. In this study, we investigate how reflection affects how people learn to plan and whether reflective learning can help people to discover more far-sighted planning strategies. In our experiment participants solve a series of 30 planning problems where the immediate rewards are smaller and therefore less important than long-term rewards. Building on Wolfbauer et al. (2020), the experimental group is guided by four reflection prompts asking the participant to describe their planning strategy, the strategy's performance, and his or her emotional response, insights, and intention to change their strategy. The control group practices planning without reflection prompts. Our pilot data suggest that systematic reflection helps people to more rapidly discover adaptive planning strategies. Our findings suggest that reflection is useful not only for helping people learn what to do in a specific situation but also for helping people learn how to think about what to do. In future work, we will compare the effects of different types of reflection on the subsequent changes in people's decision strategies. Developing apps that prompt people to reflect on their decisions may be a promising approach to accelerating cognitive growth and promoting lifelong learning.

re

[BibTex]

re Frederic Becker, , Lieder, F. Promoting metacognitive learning through systematic reflection The first edition of Life Improvement Science Conference, June 2021 (poster)

[BibTex]

Improving Human Decision-Making by Discovering Efficient Strategies for Hierarchical Planning
Improving Human Decision-Making by Discovering Efficient Strategies for Hierarchical Planning

Heindrich, L., Consul, S., Stojcheski, J., Lieder, F.

Tübingen, Germany, The first edition of Life Improvement Science Conference, June 2021 (talk) Accepted

Abstract
The discovery of decision strategies is an essential part of creating effective cognitive tutors that teach planning and decision-making skills to humans. In the context of bounded rationality, this requires weighing the benefits of different planning operations compared to their computational costs. For small decision problems, it has already been shown that near-optimal decision strategies can be discovered automatically and that the discovered strategies can be taught to humans to increase their performance. Unfortunately, these near-optimal strategy discovery algorithms have not been able to scale well to larger problems due to their computational complexity. In this talk, we will present recent work at the Rationality Enhancement Group to overcome the computational bottleneck of existing strategy discovery algorithms. Our approach makes use of the hierarchical structure of human behavior by decomposing sequential decision problems into two sub-problems: setting a goal and planning how to achieve it. An additional metacontroller component is introduced to switch the current goal when it becomes beneficial. The hierarchical decomposition enables us to discover near-optimal strategies for human planning in larger and more complex tasks than previously possible. We then show in online experiments that teaching the discovered strategies to humans improves their performance in complex sequential decision-making tasks.

re

Project Page [BibTex]

re Heindrich, L., Consul, S., Stojcheski, J., Lieder, F. Improving Human Decision-Making by Discovering Efficient Strategies for Hierarchical Planning Tübingen, Germany, The first edition of Life Improvement Science Conference, June 2021 (talk) Accepted

Project Page [BibTex]

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Reinforcement Learning Algorithms: Analysis and Applications

Belousov, B., H., A., Klink, P., Parisi, S., Peters, J.

883, Studies in Computational Intelligence, Springer International Publishing, 2021 (book)

ei

DOI [BibTex]

ei Belousov, B., H., A., Klink, P., Parisi, S., Peters, J. Reinforcement Learning Algorithms: Analysis and Applications 883, Studies in Computational Intelligence, Springer International Publishing, 2021 (book)

DOI [BibTex]

2020

Towards Hybrid Active and Passive Compliant Mechanisms in Legged Robots
Towards Hybrid Active and Passive Compliant Mechanisms in Legged Robots

Milad Shafiee Ashtiani, A. A. S., Badri-Sproewitz, A.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, October 2020 (poster) Accepted

dlg

Abstract Poster [BibTex]

2020

dlg Milad Shafiee Ashtiani, A. A. S., Badri-Sproewitz, A. Towards Hybrid Active and Passive Compliant Mechanisms in Legged Robots IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, October 2020 (poster) Accepted

Abstract Poster [BibTex]

VP above or below? A new perspective on the story of the virtual point
VP above or below? A new perspective on the story of the virtual point

Drama, Ö., Badri-Spröwitz, A.

Dynamic Walking, May 2020 (poster)

Abstract
The spring inverted pendulum model with an extended trunk (TSLIP) is widely used to investigate the postural stability in bipedal locomotion [1, 2]. The challenge of the model is to define a hip torque that generates feasible gait patterns while stabilizing the floating trunk. The virtual point (VP) method is proposed as a simplified solution, where the hip torque is coupled to the passive compliant leg force via a virtual point. This geometric coupling is based on the assumption that the instantaneous ground reaction forces of the stance phase (GRF) intersect at a single virtual point.

dlg

Poster Abstract link (url) [BibTex]

dlg Drama, Ö., Badri-Spröwitz, A. VP above or below? A new perspective on the story of the virtual point Dynamic Walking, May 2020 (poster)

Poster Abstract link (url) [BibTex]

Viscous Damping in Legged Locomotion
Viscous Damping in Legged Locomotion

Mo, A., Izzi, F., Haeufle, D. F. B., Badri-Spröwitz, A.

Dynamic Walking, May 2020 (poster)

Abstract
Damping likely plays an essential role in legged animal locomotion, but remains an insufficiently understood mechanism. Intrinsic damping muscle forces can potentially add to the joint torque output during unexpected impacts, stabilise movements, convert the system’s energy, and reject unexpected perturbations.

dlg

Abstract Poster link (url) Project Page [BibTex]

dlg Mo, A., Izzi, F., Haeufle, D. F. B., Badri-Spröwitz, A. Viscous Damping in Legged Locomotion Dynamic Walking, May 2020 (poster)

Abstract Poster link (url) Project Page [BibTex]

How Quadrupeds Benefit from Lower Leg Passive Elasticity
How Quadrupeds Benefit from Lower Leg Passive Elasticity

Ruppert, F., Badri-Spröwitz, A.

Dynamic Walking, May 2020 (poster)

Abstract
Recently developed and fully actuated, legged robots start showing exciting locomotion capabilities, but rely heavily on high-power actuators, high-frequency sensors, and complex locomotion controllers. The engineering solutions implemented in these legged robots are much different compared to animals. Vertebrate animals share magnitudes slower neurocontrol signal velocities [1] compared to their robot counterparts. Also, animals feature a plethora of cascaded and underactuated passive elastic structures [2].

dlg

Abstract Poster link (url) Project Page [BibTex]

Potential for elastic soft tissue deformation and mechanosensory function within the lumbosacral spinal canal of birds
Potential for elastic soft tissue deformation and mechanosensory function within the lumbosacral spinal canal of birds

Kamska, V., Daley, M., Badri-Spröwitz, A.

Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2020), January 2020 (poster)

dlg

DOI [BibTex]

dlg Kamska, V., Daley, M., Badri-Spröwitz, A. Potential for elastic soft tissue deformation and mechanosensory function within the lumbosacral spinal canal of birds Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2020), January 2020 (poster)

DOI [BibTex]

Excursion Search for Constrained Bayesian Optimization under a Limited Budget of Failures
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 (proceedings) In revision

Abstract
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.

am ics

arXiv code (python) PDF [BibTex]

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TUM Flyers: Vision-Based MAV Navigation for Systematic Inspection of Structures

Usenko, V., Stumberg, L. V., Stückler, J., Cremers, D.

In Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users: The Experience of the European Robotics Challenges, 136, pages: 189-209, Springer Tracts in Advanced Robotics, Springer International Publishing, 2020 (inbook)

ev

link (url) DOI [BibTex]

ev Usenko, V., Stumberg, L. V., Stückler, J., Cremers, D. TUM Flyers: Vision-Based MAV Navigation for Systematic Inspection of Structures In Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users: The Experience of the European Robotics Challenges, 136, pages: 189-209, Springer Tracts in Advanced Robotics, Springer International Publishing, 2020 (inbook)

link (url) DOI [BibTex]

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Adopting the Boundary Homogenization Approximation from Chemical Kinetics to Motile Chemically Active Particles

Popescu, M. N., Uspal, W. E.

In Chemical Kinetics, pages: 517-540, (Editors: Lindenberg, Katja and Metzler, Ralf and Oshanin, Gleb), World Scientific, New Jersey, NJ, 2020 (incollection)

icm

DOI [BibTex]

icm Popescu, M. N., Uspal, W. E. Adopting the Boundary Homogenization Approximation from Chemical Kinetics to Motile Chemically Active Particles In Chemical Kinetics, pages: 517-540, (Editors: Lindenberg, Katja and Metzler, Ralf and Oshanin, Gleb), World Scientific, New Jersey, NJ, 2020 (incollection)

DOI [BibTex]

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Soft Microrobots Based on Photoresponsive Materials

Palagi, S.

In Mechanically Responsive Materials for Soft Robotics, pages: 327-362, (Editors: Koshima, Hideko), Wiley-VCH, Weinheim, 2020 (incollection)

pf

DOI [BibTex]

pf Palagi, S. Soft Microrobots Based on Photoresponsive Materials In Mechanically Responsive Materials for Soft Robotics, pages: 327-362, (Editors: Koshima, Hideko), Wiley-VCH, Weinheim, 2020 (incollection)

DOI [BibTex]

Computer Vision for Autonomous Vehicles: Problems, Datasets and State-of-the-Art
Computer Vision for Autonomous Vehicles: Problems, Datasets and State-of-the-Art

Janai, J., Güney, F., Behl, A., Geiger, A.

12(1-3), Foundations and Trends® in Computer Graphics and Vision, now Publishers Inc., Hanover, MA, 2020 (book)

Abstract
Recent years have witnessed enormous progress in AI-related fields such as computer vision, machine learning, and autonomous vehicles. As with any rapidly growing field, it becomes increasingly difficult to stay up-to-date or enter the field as a beginner. While several survey papers on particular sub-problems have appeared, no comprehensive survey on problems, datasets, and methods in computer vision for autonomous vehicles has been published. This monograph attempts to narrow this gap by providing a survey on the state-of-the-art datasets and techniques. Our survey includes both the historically most relevant literature as well as the current state of the art on several specific topics, including recognition, reconstruction, motion estimation, tracking, scene understanding, and end-to-end learning for autonomous driving. Towards this goal, we analyze the performance of the state of the art on several challenging benchmarking datasets, including KITTI, MOT, and Cityscapes. Besides, we discuss open problems and current research challenges. To ease accessibility and accommodate missing references, we also provide a website that allows navigating topics as well as methods and provides additional information.

avg

pdf Project Page link DOI Project Page [BibTex]

avg Janai, J., Güney, F., Behl, A., Geiger, A. Computer Vision for Autonomous Vehicles: Problems, Datasets and State-of-the-Art 12(1-3), Foundations and Trends® in Computer Graphics and Vision, now Publishers Inc., Hanover, MA, 2020 (book)

pdf Project Page link DOI Project Page [BibTex]

2019

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Multivariate coupling estimation between continuous signals and point processes

Safavi, S., Logothetis, N., Besserve, M.

Neural Information Processing Systems 2019 - Workshop on Learning with Temporal Point Processes, December 2019 (talk)

ei

Talk video link (url) [BibTex]

2019

ei Safavi, S., Logothetis, N., Besserve, M. Multivariate coupling estimation between continuous signals and point processes Neural Information Processing Systems 2019 - Workshop on Learning with Temporal Point Processes, December 2019 (talk)

Talk video link (url) [BibTex]

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Perception of temporal dependencies in autoregressive motion

Meding, K., Schölkopf, B., Wichmann, F. A.

Perception, 48(2-suppl):141, 42nd European Conference on Visual Perception (ECVP), August 2019 (poster)

ei

link (url) [BibTex]

ei Meding, K., Schölkopf, B., Wichmann, F. A. Perception of temporal dependencies in autoregressive motion Perception, 48(2-suppl):141, 42nd European Conference on Visual Perception (ECVP), August 2019 (poster)

link (url) [BibTex]

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Phenomenal Causality and Sensory Realism

Bruijns, S. A., Meding, K., Schölkopf, B., Wichmann, F. A.

Perception, 48(2-suppl):141, 42nd European Conference on Visual Perception (ECVP), August 2019 (poster)

ei

link (url) [BibTex]

ei Bruijns, S. A., Meding, K., Schölkopf, B., Wichmann, F. A. Phenomenal Causality and Sensory Realism Perception, 48(2-suppl):141, 42nd European Conference on Visual Perception (ECVP), August 2019 (poster)

link (url) [BibTex]

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Neural mass modeling of the Ponto-Geniculo-Occipital wave and its neuromodulation

Shao, K., Logothetis, N., Besserve, M.

28th Annual Computational Neuroscience Meeting (CNS*2019), July 2019 (poster)

ei

DOI [BibTex]

ei Shao, K., Logothetis, N., Besserve, M. Neural mass modeling of the Ponto-Geniculo-Occipital wave and its neuromodulation 28th Annual Computational Neuroscience Meeting (CNS*2019), July 2019 (poster)

DOI [BibTex]

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Demo Abstract: Fast Feedback Control and Coordination with Mode Changes for Wireless Cyber-Physical Systems

(Best Demo Award)

Mager, F., Baumann, D., Jacob, R., Thiele, L., Trimpe, S., Zimmerling, M.

Proceedings of the 18th ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), pages: 340-341, 18th ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), April 2019 (poster)

ics

arXiv PDF DOI [BibTex]

ics Mager, F., Baumann, D., Jacob, R., Thiele, L., Trimpe, S., Zimmerling, M. Demo Abstract: Fast Feedback Control and Coordination with Mode Changes for Wireless Cyber-Physical Systems Proceedings of the 18th ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), pages: 340-341, 18th ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), April 2019 (poster)

arXiv PDF DOI [BibTex]

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Nanomagnetismus im Röntgenlicht

Schütz, G.

In Vielfältige Physik, pages: 173-182, Springer Spektrum, Berlin, Heidelberg, 2019 (incollection)

mms

DOI [BibTex]

mms Schütz, G. Nanomagnetismus im Röntgenlicht In Vielfältige Physik, pages: 173-182, Springer Spektrum, Berlin, Heidelberg, 2019 (incollection)

DOI [BibTex]

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Prototyping Micro- and Nano-Optics with Focused Ion Beam Lithography

Keskinbora, K.

SL48, pages: 46, SPIE.Spotlight, SPIE Press, Bellingham, WA, 2019 (book)

mms

DOI [BibTex]

mms Keskinbora, K. Prototyping Micro- and Nano-Optics with Focused Ion Beam Lithography SL48, pages: 46, SPIE.Spotlight, SPIE Press, Bellingham, WA, 2019 (book)

DOI [BibTex]

Das Tier als Modell für Roboter, und Roboter als Modell für Tiere
Das Tier als Modell für Roboter, und Roboter als Modell für Tiere

Badri-Spröwitz, A.

In pages: 167-175, Springer, 2019 (incollection)

dlg

DOI [BibTex]

dlg Badri-Spröwitz, A. Das Tier als Modell für Roboter, und Roboter als Modell für Tiere In pages: 167-175, Springer, 2019 (incollection)

DOI [BibTex]

2018

Nanoscale robotic agents in biological fluids and tissues
Nanoscale robotic agents in biological fluids and tissues

Palagi, S., Walker, D. Q. T., Fischer, P.

In The Encyclopedia of Medical Robotics, 2, pages: 19-42, 2, (Editors: Desai, J. P. and Ferreira, A.), World Scientific, October 2018 (inbook)

Abstract
Nanorobots are untethered structures of sub-micron size that can be controlled in a non-trivial way. Such nanoscale robotic agents are envisioned to revolutionize medicine by enabling minimally invasive diagnostic and therapeutic procedures. To be useful, nanorobots must be operated in complex biological fluids and tissues, which are often difficult to penetrate. In this chapter, we first discuss potential medical applications of motile nanorobots. We briefly present the challenges related to swimming at such small scales and we survey the rheological properties of some biological fluids and tissues. We then review recent experimental results in the development of nanorobots and in particular their design, fabrication, actuation, and propulsion in complex biological fluids and tissues. Recent work shows that their nanoscale dimension is a clear asset for operation in biological tissues, since many biological tissues consist of networks of macromolecules that prevent the passage of larger micron-scale structures, but contain dynamic pores through which nanorobots can move.

pf

link (url) DOI [BibTex]

2018

pf Palagi, S., Walker, D. Q. T., Fischer, P. Nanoscale robotic agents in biological fluids and tissues In The Encyclopedia of Medical Robotics, 2, pages: 19-42, 2, (Editors: Desai, J. P. and Ferreira, A.), World Scientific, October 2018 (inbook)

link (url) DOI [BibTex]

Impact of Trunk Orientation for Dynamic Bipedal Locomotion
Impact of Trunk Orientation for Dynamic Bipedal Locomotion

Drama, Ö.

Dynamic Walking Conference, May 2018 (talk)

Abstract
Impact of trunk orientation for dynamic bipedal locomotion My research revolves around investigating the functional demands of bipedal running, with focus on stabilizing trunk orientation. When we think about postural stability, there are two critical questions we need to answer: What are the necessary and sufficient conditions to achieve and maintain trunk stability? I am concentrating on how morphology affects control strategies in achieving trunk stability. In particular, I denote the trunk pitch as the predominant morphology parameter and explore the requirements it imposes on a chosen control strategy. To analyze this, I use a spring loaded inverted pendulum model extended with a rigid trunk, which is actuated by a hip motor. The challenge for the controller design here is to have a single hip actuator to achieve two coupled tasks of moving the legs to generate motion and stabilizing the trunk. I enforce orthograde and pronograde postures and aim to identify the effect of these trunk orientations on the hip torque and ground reaction profiles for different control strategies.

dlg

Impact of trunk orientation for dynamic bipedal locomotion [DW 2018] link (url) [BibTex]

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Haptics and Haptic Interfaces

Kuchenbecker, K. J.

In Encyclopedia of Robotics, (Editors: Marcelo H. Ang and Oussama Khatib and Bruno Siciliano), Springer, May 2018 (incollection)

Abstract
Haptics is an interdisciplinary field that seeks to both understand and engineer touch-based interaction. Although a wide range of systems and applications are being investigated, haptics researchers often concentrate on perception and manipulation through the human hand. A haptic interface is a mechatronic system that modulates the physical interaction between a human and his or her tangible surroundings. Haptic interfaces typically involve mechanical, electrical, and computational layers that work together to sense user motions or forces, quickly process these inputs with other information, and physically respond by actuating elements of the user’s surroundings, thereby enabling him or her to act on and feel a remote and/or virtual environment.

hi

DOI [BibTex]

hi Kuchenbecker, K. J. Haptics and Haptic Interfaces In Encyclopedia of Robotics, (Editors: Marcelo H. Ang and Oussama Khatib and Bruno Siciliano), Springer, May 2018 (incollection)

DOI [BibTex]

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Poster Abstract: Toward Fast Closed-loop Control over Multi-hop Low-power Wireless Networks

Mager, F., Baumann, D., Trimpe, S., Zimmerling, M.

Proceedings of the 17th ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), pages: 158-159, Porto, Portugal, April 2018 (poster)

ics

DOI Project Page [BibTex]

ics Mager, F., Baumann, D., Trimpe, S., Zimmerling, M. Poster Abstract: Toward Fast Closed-loop Control over Multi-hop Low-power Wireless Networks Proceedings of the 17th ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), pages: 158-159, Porto, Portugal, April 2018 (poster)

DOI Project Page [BibTex]

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Representation of sensory uncertainty in macaque visual cortex

Goris, R., Henaff, O., Meding, K.

Computational and Systems Neuroscience (COSYNE) 2018, March 2018 (poster)

ei

[BibTex]

ei Goris, R., Henaff, O., Meding, K. Representation of sensory uncertainty in macaque visual cortex Computational and Systems Neuroscience (COSYNE) 2018, March 2018 (poster)

[BibTex]

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Generalized phase locking analysis of electrophysiology data

Safavi, S., Panagiotaropoulos, T., Kapoor, V., Logothetis, N. K., Besserve, M.

7th AREADNE Conference on Research in Encoding and Decoding of Neural Ensembles, 2018 (poster)

ei

link (url) [BibTex]

ei Safavi, S., Panagiotaropoulos, T., Kapoor, V., Logothetis, N. K., Besserve, M. Generalized phase locking analysis of electrophysiology data 7th AREADNE Conference on Research in Encoding and Decoding of Neural Ensembles, 2018 (poster)

link (url) [BibTex]

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Maschinelles Lernen: Entwicklung ohne Grenzen?

Schölkopf, B.

In Mit Optimismus in die Zukunft schauen. Künstliche Intelligenz - Chancen und Rahmenbedingungen, pages: 26-34, (Editors: Bender, G. and Herbrich, R. and Siebenhaar, K.), B&S Siebenhaar Verlag, 2018 (incollection)

ei

[BibTex]

ei Schölkopf, B. Maschinelles Lernen: Entwicklung ohne Grenzen? In Mit Optimismus in die Zukunft schauen. Künstliche Intelligenz - Chancen und Rahmenbedingungen, pages: 26-34, (Editors: Bender, G. and Herbrich, R. and Siebenhaar, K.), B&S Siebenhaar Verlag, 2018 (incollection)

[BibTex]

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Methods in Psychophysics

Wichmann, F. A., Jäkel, F.

In Stevens’ Handbook of Experimental Psychology and Cognitive Neuroscience, 5 (Methodology), 7, 4th, John Wiley & Sons, Inc., 2018 (inbook)

ei

[BibTex]

ei Wichmann, F. A., Jäkel, F. Methods in Psychophysics In Stevens’ Handbook of Experimental Psychology and Cognitive Neuroscience, 5 (Methodology), 7, 4th, John Wiley & Sons, Inc., 2018 (inbook)

[BibTex]

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Photorealistic Video Super Resolution

Pérez-Pellitero, E., Sajjadi, M. S. M., Hirsch, M., Schölkopf, B.

Workshop and Challenge on Perceptual Image Restoration and Manipulation (PIRM) at the 15th European Conference on Computer Vision (ECCV), 2018 (poster)

ei

[BibTex]

ei Pérez-Pellitero, E., Sajjadi, M. S. M., Hirsch, M., Schölkopf, B. Photorealistic Video Super Resolution Workshop and Challenge on Perceptual Image Restoration and Manipulation (PIRM) at the 15th European Conference on Computer Vision (ECCV), 2018 (poster)

[BibTex]

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Retinal image quality of the human eye across the visual field

Meding, K., Hirsch, M., Wichmann, F. A.

14th Biannual Conference of the German Society for Cognitive Science (KOGWIS 2018), 2018 (poster)

ei

[BibTex]

ei Meding, K., Hirsch, M., Wichmann, F. A. Retinal image quality of the human eye across the visual field 14th Biannual Conference of the German Society for Cognitive Science (KOGWIS 2018), 2018 (poster)

[BibTex]