Publications

Autonomous Learning Robotics Conference Paper Learning Diverse Skills for Local Navigation under Multi-constraint Optimality Cheng, J., Vlastelica, M., Kolev, P., Li, C., Martius, G. In Learning Diverse Skills for Local Navigation under Multi-constraint Optimality, :5083-5089, ICRA, October 2024 (Published) Website DOI URL BibTeX

Empirical Inference Autonomous Learning Conference Paper Learning to Control Emulated Muscles in Real Robots: A Software Test Bed for Bio-Inspired Actuators in Hardware Schumacher, P., Krause, L., Schneider, J., Büchler, D., Martius, G., Haeufle, D. In Proceedings 10th International Conference on Biomedical Robotics and Biomechatronics (BioRob), :806-813, IEEE, 10th International Conference on Biomedical Robotics and Biomechatronics (BioRob), September 2024 (Published) arXiv DOI URL BibTeX

Autonomous Learning Conference Paper Causal Action Influence Aware Counterfactual Data Augmentation Urpi, N. A., Bagatella, M., Vlastelica, M., Martius, G. In Proceedings of the 41st International Conference on Machine Learning (ICML), 235:1709-1729, Proceedings of Machine Learning Research, (Editors: Salakhutdinov, Ruslan and Kolter, Zico and Heller, Katherine and Weller, Adrian and Oliver, Nuria and Scarlett, Jonathan and Berkenkamp, Felix), PMLR, July 2024 (Published) URL BibTeX

Autonomous Learning Conference Paper LPGD: A General Framework for Backpropagation through Embedded Optimization Layers Paulus, A., Martius, G., Musil, V. In Proceedings of the 41st International Conference on Machine Learning (ICML), 235:39989-40014, Proceedings of Machine Learning Research, (Editors: Salakhutdinov, Ruslan and Kolter, Zico and Heller, Katherine and Weller, Adrian and Oliver, Nuria and Scarlett, Jonathan and Berkenkamp, Felix), PMLR, July 2024 (Published) URL BibTeX

Autonomous Learning Conference Paper Learning with 3D rotations, a hitchhiker’s guide to SO(3) Geist, A. R., Frey, J., Zhobro, M., Levina, A., Martius, G. In Proceedings of Machine Learning Research, Proceedings of the Forty-First International Conference on Machine Learning , 235:15331-15350, (Editors: Salakhutdinov, Ruslan and Kolter, Zico and Heller, Katherine and Weller, Adrian and Oliver, Nuria and Scarlett, Jonathan and Berkenkamp, Felix), Forty-First International Conference on Machine Learning , July 2024 (Published) URL BibTeX

Autonomous Learning Conference Paper Modelling Microbial Communities with Graph Neural Networks Ruaud, A., Sancaktar, C., Bagatella, M., Ratzke, C., Martius, G. In Proceedings of the 41st International Conference on Machine Learning (ICML), 235:42742-42765, Proceedings of Machine Learning Research, (Editors: Salakhutdinov, Ruslan and Kolter, Zico and Heller, Katherine and Weller, Adrian and Oliver, Nuria and Scarlett, Jonathan and Berkenkamp, Felix), PMLR, July 2024 (Published) URL BibTeX

Autonomous Learning Conference Paper Emergent mechanisms for long timescales depend on training curriculum and affect performance in memory tasks Khajehabdollahi, S., Zeraati, R., Giannakakis, E., Schäfer, T. J., Martius, G., Levina, A. In The Twelfth International Conference on Learning Representations, ICLR 2024, May 2024 (Published) URL BibTeX

Autonomous Learning Conference Paper Learning Hierarchical World Models with Adaptive Temporal Abstractions from Discrete Latent Dynamics Gumbsch, C., Sajid, N., Martius, G., Butz, M. V. In The Twelfth International Conference on Learning Representations, ICLR 2024, May 2024 () URL BibTeX

Empirical Inference Autonomous Learning Conference Paper The Expressive Leaky Memory Neuron: an Efficient and Expressive Phenomenological Neuron Model Can Solve Long-Horizon Tasks Spieler, A., Rahaman, N., Martius, G., Schölkopf, B., Levina, A. In The Twelfth International Conference on Learning Representations (ICLR), May 2024 (Published) arXiv BibTeX

Autonomous Learning Conference Paper Zero-Shot Object-Centric Representation Learning Didolkar, A., Zadaianchuk, A., Goyal, A., Mozer, M., Bengio, Y., Martius, G., Seitzer, M. In Zero-Shot Object-Centric Representation Learning, August 2024, Accepted (Accepted) URL BibTeX

Autonomous Learning Conference Paper Dual-Force: Enhanced Offline Diversity Maximization under Imitation Constraints Kolev, P., Vlastelica, M., Martius, G. In Seventeenth European Workshop on Reinforcement Learning, August 2024, Accepted (Accepted) URL BibTeX

Autonomous Learning Conference Paper SENSEI: Semantic Exploration Guided by Foundation Models to Learn Versatile World Models Sancaktar, C., Gumbsch, C., Zadaianchuk, A., Kolev, P., Martius, G. In The Training Agents with Foundation Models Workshop at RLC, 2024, indicates equal contribution (Published) URL BibTeX

Autonomous Learning Conference Paper On Imitation in Mean-field Games Ramponi, G., Kolev, P., Olivier, P., He, N., Laurière, M., Geist, M. In Advances in Neural Information Processing Systems 36 (NeurIPS 2023), :1-12, Curran Associates Inc., NeurIPS, December 2023 (Published) DOI URL BibTeX

Autonomous Learning Conference Paper Goal-conditioned Offline Planning from Curious Exploration Bagatella, M., Martius, G. In Advances in Neural Information Processing Systems 36, December 2023 (Published) URL BibTeX

Autonomous Learning Conference Paper Object-Centric Learning for Real-World Videos by Predicting Temporal Feature Similarities Zadaianchuk, A., Seitzer, M., Martius, G. In Thirty-seventh Conference on Neural Information Processing Systems (NeurIPS 2023), Advances in Neural Information Processing Systems 36, December 2023 () arXiv Website OpenReview URL BibTeX

Autonomous Learning Conference Paper Online Learning under Adversarial Nonlinear Constraints Kolev, P., Martius, G., Muehlebach, M. In Advances in Neural Information Processing Systems 36, December 2023 () URL BibTeX

Autonomous Learning Conference Paper Regularity as Intrinsic Reward for Free Play Sancaktar, C., Piater, J., Martius, G. In Advances in Neural Information Processing Systems 37, December 2023 () Website Code URL BibTeX

Autonomous Learning Conference Paper Backpropagation through Combinatorial Algorithms: Identity with Projection Works Sahoo, S., Paulus, A., Vlastelica, M., Musil, V., Kuleshov, V., Martius, G. In Proceedings of the Eleventh International Conference on Learning Representations, May 2023, Accepted (Accepted) OpenReview Arxiv Pdf URL BibTeX

Autonomous Learning Empirical Inference Conference Paper Benchmarking Offline Reinforcement Learning on Real-Robot Hardware Gürtler, N., Blaes, S., Kolev, P., Widmaier, F., Wüthrich, M., Bauer, S., Schölkopf, B., Martius, G. In Proceedings of the Eleventh International Conference on Learning Representations, The Eleventh International Conference on Learning Representations (ICLR), May 2023 (Published) Website arXiv Code URL BibTeX

Autonomous Learning Empirical Inference Conference Paper DEP-RL: Embodied Exploration for Reinforcement Learning in Overactuated and Musculoskeletal Systems Schumacher, P., Haeufle, D. F., Büchler, D., Schmitt, S., Martius, G. In The Eleventh International Conference on Learning Representations (ICLR), May 2023 (Published) Arxiv pdf Website URL BibTeX

Autonomous Learning Empirical Inference Conference Paper Bridging the Gap to Real-World Object-Centric Learning Seitzer, M., Horn, M., Zadaianchuk, A., Zietlow, D., Xiao, T., Simon-Gabriel, C., He, T., Zhang, Z., Schölkopf, B., Brox, T., et al. In Proceedings of the Eleventh International Conference on Learning Representations, The Eleventh International Conference on Learning Representations (ICLR), May 2023 (Published) Code Website URL BibTeX

Autonomous Learning Conference Paper Efficient Learning of High Level Plans from Play Armengol Urpi, N., Bagatella, M., Hilliges, O., Martius, G., Coros, S. In International Conference on Robotics and Automation, 2023, Accepted (Accepted) Arxiv Website Poster BibTeX

Autonomous Learning Conference Paper Pink Noise Is All You Need: Colored Noise Exploration in Deep Reinforcement Learning Eberhard, O., Hollenstein, J., Pinneri, C., Martius, G. In Proceedings of the Eleventh International Conference on Learning Representations (ICLR), The Eleventh International Conference on Learning Representations (ICLR), May 2023 () URL BibTeX

Autonomous Learning Conference Paper Regularity as Intrinsic Reward for Free Play Sancaktar, C., Piater, J., Martius, G. In Advances in Neural Information Processing Systems (NeurIPS, Advances in Neural Information Processing Systems 36, September 2023 (Published) URL BibTeX

Autonomous Learning Conference Paper Curious Exploration via Structured World Models Yields Zero-Shot Object Manipulation Sancaktar, C., Blaes, S., Martius, G. In Advances in Neural Information Processing Systems 35 (NeurIPS 2022), :24170-24183 , Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems (NeurIPS 2022), December 2022 (Published) Arxiv Videos Openreview URL BibTeX

Autonomous Learning Conference Paper Risk-Averse Zero-Order Trajectory Optimization Vlastelica*, M., Blaes*, S., Pinneri, C., Martius, G. In Conference on Robot Learning, 164, PMLR, 5th Conference on Robot Learning (CoRL 2021) , 2022, *Equal Contribution (Published) OpenReview PDF URL BibTeX

Autonomous Learning Conference Paper Self-supervised Reinforcement Learning with Independently Controllable Subgoals Zadaianchuk, A., Martius, G., Yang, F. In Proceedings of the 5th Conference on Robot Learning (CoRL 2021) , 164:384-394, PMLR, 5th Conference on Robot Learning (CoRL 2021) , 2022 (Published) Arxiv Openreview Poster URL BibTeX

Autonomous Learning Conference Paper Developing hierarchical anticipations via neural network-based event segmentation Gumbsch, C., Adam, M., Elsner, B., Martius, G., Butz, M. V. In Proceedings of the IEEE International Conference on Development and Learning (ICDL 2022), :1-8, 2022 IEEE International Conference on Development and Learning (ICDL), September 2022 () URL BibTeX

Perceiving Systems Autonomous Learning Conference Paper InvGAN: Invertible GANs Ghosh, P., Zietlow, D., Black, M. J., Davis, L. S., Hu, X. In Pattern Recognition, :3-19, Lecture Notes in Computer Science, 13485, (Editors: Andres, Björn and Bernard, Florian and Cremers, Daniel and Frintrop, Simone and Goldlücke, Bastian and Ihrke, Ivo), Springer, Cham, 44th DAGM German Conference on Pattern Recognition (DAGM GCPR 2022), September 2022 (Published) pdf DOI BibTeX

Autonomous Learning Conference Paper Uncertainty in Equation Learning Werner, M., Junginger, A., Hennig, P., Martius, G. In GECCO ’22: Proceedings of the Genetic and Evolutionary Computation Conference Companion (GECCO), :2298-2305, ACM, Genetic and Evolutionary Computation Conference (GECCO 2022) , 2022 (Published) Paper PDF DOI URL BibTeX

Autonomous Learning Conference Paper Curious Exploration via Structured World Models Yields Zero-Shot Object Manipulation Sancaktar, C., Blaes, S., Martius, G. In Advances in Neural Information Processing Systems (NeurIPS), October 2022 (Published) URL BibTeX

Autonomous Learning Empirical Inference Conference Paper Causal Influence Detection for Improving Efficiency in Reinforcement Learning Seitzer, M., Schölkopf, B., Martius, G. In Advances in Neural Information Processing Systems 34 (NeurIPS 2021), 34:22905-22918, (Editors: M. Ranzato and A. Beygelzimer and Y. Dauphin and P. S. Liang and J. Wortman Vaughan), Curran Associates, Inc., Red Hook, NY, 35th Conference on Neural Information Processing Systems, December 2021 (Published) arXiv PDF Data Code URL BibTeX

Empirical Inference Autonomous Learning Conference Paper Hierarchical Reinforcement Learning with Timed Subgoals Gürtler, N., Büchler, D., Martius, G. In Advances in Neural Information Processing Systems 34, 26:21732-21743, (Editors: M. Ranzato and A. Beygelzimer and Y. Dauphin and P. S. Liang and J. Wortman Vaughan), Curran Associates, Inc., Red Hook, NY, 35th Conference on Neural Information Processing Systems (NeurIPS 2021), December 2021 (Published) video arXiv code URL BibTeX

Autonomous Learning Conference Paper Planning from Pixels in Environments with Combinatorially Hard Search Spaces Bagatella, M., Olšák, M., Rolínek, M., Martius, G. In Advances in Neural Information Processing Systems 34, 30:24707-24718, Curran Associates, Inc., Red Hook, NY, 35th Conference on Neural Information Processing Systems (NeurIPS 2021), December 2021 (Published) URL BibTeX

Autonomous Learning Conference Paper Sparsely Changing Latent States for Prediction and Planning in Partially Observable Domains Gumbsch, C., Butz, M. V., Martius, G. In Advances in Neural Information Processing Systems 34, 21:17518-17531, (Editors: M. Ranzato and A. Beygelzimer and Y. Dauphin and P. S. Liang and J. Wortman Vaughan), Curran Associates, Inc., Red Hook, NY, 35th Conference on Neural Information Processing Systems (NeurIPS 2021), December 2021 (Published) arXiv Openreview URL BibTeX

Autonomous Learning Conference Paper CombOptNet: Fit the Right NP-Hard Problem by Learning Integer Programming Constraints Paulus, A., Rolínek, M., Musil, V., Amos, B., Martius, G. In Proceedings of the 38th International Conference on Machine Learning, 139:8443-8453, Proceedings of Machine Learning Research, (Editors: Meila, Marina and Zhang, Tong), PMLR, The Thirty-eighth International Conference on Machine Learning (ICML), July 2021 () Arxiv Code Pdf Spotlight video @ ICML 2021 Poster @ ICML 2021 URL BibTeX

Autonomous Learning Conference Paper Demystifying Inductive Biases for (Beta-)VAE Based Architectures Zietlow, D., Rolinek, M., Martius, G. In Proceedings of the 2021 International Conference on Machine Learning (ICML), 139:12945-12954, Proceedings of Machine Learning Research , The 38th International Conference on Machine Learning (ICML 2021), July 2021 (Published) Arxiv PDF Paper @ ICML 2021 (spotlight video) URL BibTeX

Autonomous Learning Conference Paper Neuro-algorithmic Policies Enable Fast Combinatorial Generalization Vlastelica, M., Rolinek, M., Martius, G. In Proceedings of the 2021 International Conference on Machine Learning (ICML), The Thirty-eighth International Conference on Machine Learning (ICML), July 2021 () arXiv Spotlight PDF BibTeX

Autonomous Learning Conference Paper The dynamical regime and its importance for evolvability, task performance and generalization Prosi, J., Khajehabdollahi, S., Giannakakis, E., Martius, G., Levina, A. In The 2021 Conference on Artificial Life, MIT Press, July 2021 () PDF DOI URL BibTeX

Autonomous Learning Conference Paper Extracting Strong Policies for Robotics Tasks from Zero-order Trajectory Optimizers Pinneri*, C., Sawant*, S., Blaes, S., Martius, G. In The Ninth International Conference on Learning Representations (ICLR), 9th International Conference on Learning Representations (ICLR 2021) , May 2021, *equal contribution (Published) OpenReview URL BibTeX

Autonomous Learning Conference Paper Self-supervised Visual Reinforcement Learning with Object-centric Representations Zadaianchuk*, A., Seitzer*, M., Martius, G. In 9th International Conference on Learning Representations (ICLR 2021), May 2021, *equal contribution () Arxiv Code Paper @ ICLR 2021 (spotlight video) OpenReview BibTeX

Autonomous Learning Conference Paper Deep Graph Matching via Blackbox Differentiation of Combinatorial Solvers Rolínek, M., Swoboda, P., Zietlow, D., Paulus, A., Musil, V., Martius, G. In Computer Vision – ECCV 2020, 28:407-424, Lecture Notes in Computer Science, 12373, (Editors: Vedaldi, Andrea and Bischof, Horst and Brox, Thomas and Frahm, Jan-Michael), Springer, Cham, 16th European Conference on Computer Vision (ECCV 2020) , August 2020 (Published) Code Arxiv Long Spotlight Short Spotlight pdf DOI BibTeX

Autonomous Learning Conference Paper Optimizing Rank-based Metrics with Blackbox Differentiation Rolínek, M., Musil, V., Paulus, A., Vlastelica, M., Michaelis, C., Martius, G. In 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2020), :7617 - 7627, IEEE, Piscataway, NJ, IEEE/CVF International Conference on Computer Vision and Pattern Recognition (CVPR 2020), June 2020, Best paper nomination (Published) Paper @ CVPR2020 Long Oral Short Oral Arxiv Code Pdf DOI URL BibTeX

Haptic Intelligence Autonomous Learning Conference Paper Calibrating a Soft ERT-Based Tactile Sensor with a Multiphysics Model and Sim-to-real Transfer Learning Lee, H., Park, H., Serhat, G., Sun, H., Kuchenbecker, K. J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), :1632-1638, IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020 (Published) DOI BibTeX

Autonomous Learning Conference Paper Differentiation of Blackbox Combinatorial Solvers Vlastelica*, M., Paulus*, A., Musil, V., Martius, G., Rolínek, M. In International Conference on Learning Representations, ICLR’20, May 2020, *Equal Contribution () Arxiv Code pdf 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

Autonomous Learning Conference Paper Assessing Aesthetics of Generated Abstract Images Using Correlation Structure Khajehabdollahi, S., Martius, G., Levina, A. In Proceedings 2019 IEEE Symposium Series on Computational Intelligence (SSCI), :306-313, IEEE, 2019 IEEE Symposium Series on Computational Intelligence (SSCI), December 2019 () Arxiv DOI BibTeX

Autonomous Learning Conference Paper Control What You Can: Intrinsically Motivated Task-Planning Agent Blaes, S., Vlastelica, M., Zhu, J., Martius, G. In Advances in Neural Information Processing Systems (NeurIPS 2019), :12520-12531, Curran Associates, Inc., 33rd Annual Conference on Neural Information Processing Systems, December 2019, Accepted (Accepted) PDF Supplementary material NeurIPS Page Project Page Video Poster BibTeX

Autonomous Learning Conference Paper Variational Autoencoders Pursue PCA Directions (by Accident) Rolinek, M., Zietlow, D., Martius, G. In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), :12406-12415, IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), June 2019 () Arxiv URL BibTeX

Autonomous Learning Conference Paper Falsification of hybrid systems using symbolic reachability and trajectory splicing Bogomolov, S., Frehse, G., Gurung, A., Li, D., Martius, G., Ray, R. In Proceedings International Conference on Hybrid Systems: Computation and Control (HSCC ’19), :1-10, ACM, International Conference on Hybrid Systems: Computation and Control (HSCC '19), April 2019 (Published) Personal Copy DOI BibTeX

Publications

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