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Bioinspired Autonomous Miniature Robots

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Embodied Vision

Human Aspects of Machine Learning

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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

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Robot Learning

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2022

Autonomous Learning

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Haptic Intelligence Autonomous Learning Empirical Inference Miscellaneous A Sequential Group VAE for Robot Learning of Haptic Representations Richardson, B. A., Kuchenbecker, K. J., Martius, G. :1-11, Workshop paper (8 pages) presented at the CoRL Workshop on Aligning Robot Representations with Humans, Auckland, New Zealand, December 2022 (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
Empirical Inference Autonomous Learning Robust Machine Learning Conference Paper Embrace the Gap: VAEs Perform Independent Mechanism Analysis Reizinger*, P., Gresele*, L., Brady*, J., von Kügelgen, J., Zietlow, D., Schölkopf, B., Martius, G., Brendel, W., Besserve, M. Advances in Neural Information Processing Systems (NeurIPS 2022), 35:12040-12057, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems, December 2022, *equal first authorship (Published) Arxiv PDF URL BibTeX
Autonomous Learning Conference Paper Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Li, C., Vlastelica, M., Blaes, S., Frey, J., Grimminger, F., Martius, G. Proceedings of the 6th Conference on Robot Learning (CoRL), Conference on Robot Learning (CoRL), December 2022, Accepted (Accepted) Arxiv Videos Project URL BibTeX
Empirical Inference Autonomous Learning Conference Paper Learning with Muscles: Benefits for Data-Efficiency and Robustness in Anthropomorphic Tasks Wochner, I., Schumacher, P., Martius, G., Büchler, D., Schmitt, S., Haeufle, D. Proceedings of the 6th Conference on Robot Learning (CoRL), 205:1178-1188, Proceedings of Machine Learning Research, (Editors: Liu, Karen and Kulic, Dana and Ichnowski, Jeff), PMLR, December 2022 (Published) URL BibTeX
Empirical Inference Autonomous Learning Conference Paper Real Robot Challenge 2022: Learning Dexterous Manipulation from Offline Data in the Real World Gürtler, N., Widmaier, F., Sancaktar, C., Blaes, S., Kolev, P., Bauer, S., Wüthrich, M., Wulfmeier, M., Riedmiller, M., Allshire, A., et al. Proceedings of the NeurIPS 2022 Competitions Track, 220:133-150, Proceedings of Machine Learning Research, (Editors: Ciccone, Marco and Stolovitzky, Gustavo and Albrecht, Jacob), PMLR, December 2022 (Published) 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
Haptic Intelligence Autonomous Learning Empirical Inference Miscellaneous A Soft Vision-Based Tactile Sensor for Robotic Fingertip Manipulation Andrussow, I., Sun, H., Kuchenbecker, K. J., Martius, G. Workshop paper (1 page) presented at the IROS Workshop on Large-Scale Robotic Skin: Perception, Interaction and Control, Kyoto, Japan, October 2022 (Published) 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
Empirical Inference Autonomous Learning Conference Paper Leveling Down in Computer Vision: Pareto Inefficiencies in Fair Deep Classifiers Zietlow, D., Lohaus, M., Balakrishnan, G., Kleindessner, M., Locatello, F., Schölkopf, B., Russell, C. IEEE Conference on Computer Vision and Pattern Recognition (CVPR), :10410-10421, June 2022 (Published) arXiv URL BibTeX
Autonomous Learning Conference Paper On the Pitfalls of Heteroscedastic Uncertainty Estimation with Probabilistic Neural Networks Seitzer, M., Tavakoli, A., Antic, D., Martius, G. International Conference on Learning Representations (ICLR 2022), Tenth International Conference on Learning Representations (ICLR 2022) , April 2022 (Published) URL BibTeX
Autonomous Learning Conference Paper Orchestrated Value Mapping for Reinforcement Learning Fatemi, M., Tavakoli, A. International Conference on Learning Representations, April 2022 () URL BibTeX
Autonomous Learning Article Guiding the Design of Superresolution Tactile Skins with Taxel Value Isolines Theory Sun, H., Martius, G. Science Robotics, 7(63):eabm0608, February 2022 (Published) Authors copy DOI URL BibTeX
Autonomous Learning Haptic Intelligence Article A Soft Thumb-Sized Vision-Based Sensor with Accurate All-Round Force Perception Sun, H., Kuchenbecker, K. J., Martius, G. Nature Machine Intelligence, 4(2):135-145, February 2022 (Published) Paper DOI URL BibTeX
Autonomous Learning Article Inference of affordances and active motor control in simulated agents Scholz, F., Gumbsch, C., Otte, S., Butz, M. V. Frontiers in Neurobiotics, 16, 2022 (Published) DOI BibTeX
Autonomous Learning Article Inferring Markovian quantum master equations of few-body observables in interacting spin chains Carnazza, F., Carollo, F., Zietlow, D., Andergassen, S., Martius, G., Lesanovsky, I. New Journal of Physics, 24, IOP Publishing, 2022 (Published) DOI BibTeX
Autonomous Learning Article Intelligent problem-solving as integrated hierarchical reinforcement learning Eppe, M., Gumbsch, C., Kerzel, M., Nguyen, P. D. H., Butz, M. V., Wermter, S. Nature Machine Intelligence, 4(1):11-20, 2022 (Published) DOI URL BibTeX
Autonomous Learning Ph.D. Thesis Machine-Learning-Driven Haptic Sensor Design Sun, H. University of Tuebingen, Library, 2022 () URL 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 Article When to Be Critical? Performance and Evolvability in Different Regimes of Neural Ising Agents Khajehabdollahi, S., Prosi, J., Giannakakis, E., Martius, G., Levina, A. Artificial Life, 28(4):458-478, 2022 (Published) DOI 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