Publications

Empirical Inference Autonomous Learning Conference Paper Advancing Out-of-Distribution Detection via Local Neuroplasticity Canevaro, A., Schmidt, J., Marvi, M. S., Yu, H., Martius, G., Jordan, J. The Thirteenth International Conference on Learning Representations (ICLR), April 2025, Accepted (Accepted) BibTeX

Empirical Inference Autonomous Learning Conference Paper On the Transfer of Object-Centric Representation Learning Didolkar, A. R., Zadaianchuk, A., Goyal, A., Mozer, M. C., Bengio, Y., Martius, G., Seitzer, M. The Thirteenth International Conference on Learning Representations (ICLR), April 2025, Accepted (Accepted) BibTeX

Haptic Intelligence Autonomous Learning Empirical Inference Miscellaneous Demonstration: Minsight - A Soft Vision-Based Tactile Sensor for Robotic Fingertips Andrussow, I., Sun, H., Martius, G., Kuchenbecker, K. J. Hands-on demonstration presented at the Conference on Robot Learning (CoRL), Munich, Germany, November 2024 (Published) BibTeX

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 Robotics Article Identifying Terrain Physical Parameters from Vision-Towards Physical-Parameter-Aware Locomotion and Navigation Chen, J., Frey, J., Zhou, R., Miki, T., Martius, G., Hutter, M. IEEE Robotics and Automation Letters, Identifying Terrain Physical Parameters From Vision, 9(11):9279-9286, August 2024 (Published) DOI URL BibTeX

Autonomous Learning Miscellaneous Directed Exploration in Reinforcement Learning from Linear Temporal Logic Bagatella, M., Krause, A., Martius, G. August 2024, In revision (In revision) 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 Article PaSTS An Operational Dataset for Domestic Solar Thermal Systems Ebmeier, F., Ludwig, N., Martius, G., Franz, V. H. PaSTS An Operational Dataset for Domestic Solar Thermal Systems, June 2024, Accepted (Accepted) 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 Multi-View Causal Representation Learning with Partial Observability Yao, D., Xu, D., Lachapelle, S., Magliacane, S., Taslakian, P., Martius, G., von Kügelgen, J., Locatello, F. The Twelfth International Conference on Learning Representations (ICLR), May 2024 (Published) arXiv 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 Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision Mattamala, M., Frey, J., Libera, P., Chebrolu, N., Martius, G., Cadena, C., Hutter, M., Fallon, M. April 2024, Accepted (Accepted) URL BibTeX

Autonomous Learning Conference Paper Generating Realistic Arm Movements in Reinforcement Learning: A Quantitative Comparison of Reward Terms and Task Requirements Charaja, J. P., Wochner, I., Schumacher, P., Ilg, W., Giese, M., Maufroy, C., Bulling, A., Schmitt, S., Martius, G., Haeufle, D. F. Proceedings 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), :562-568, IEEE, 2024 10TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE FOR BIOMEDICAL ROBOTICS\nAND BIOMECHATRONICS, BIOROB, February 2024 (Published) DOI URL BibTeX

Autonomous Learning Article Machine learning of a density functional for anisotropic patchy particles Simon, A., Weimar, J., Martius, G., Oettel, M. Journal of Chemical Theory and Computation, 2024, Accepted (Accepted) DOI URL BibTeX

Autonomous Learning Miscellaneous Natural and Robust Walking using Reinforcement Learning without Demonstrations in High-Dimensional Musculoskeletal Models 2024 () URL 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 Article Sensing multi-directional forces at superresolution using taxel value isoline theory Sun, H., Spiers, A., Lee, H., Fiene, J., Martius, G. Sensing multi-directional forces at superresolution using taxel value isoline theory, August 2024, Accepted (Accepted) URL BibTeX

Autonomous Learning Empirical Inference Miscellaneous Zero-Shot Offline Imitation Learning via Optimal Transport Rupf, T., Bagatella, M., Gürtler, N., Frey, J., Martius, G. October 2024, Submitted (Submitted) URL BibTeX

Autonomous Learning Conference Paper Active Fine-Tuning of Generalist Policies Bagatella, M., Hübotter, J., Martius, G., Krause, A. October 2024, Submitted (Submitted) 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 Improving Behavioural Cloning with Positive Unlabeled Learning Wang, Q., McCarthy, R., Bulens, D. C., McGuinness, K., O’Connor, N. E., Sanchez, F. R., Gürtler, N., Widmaier, F., Redmond, S. J. 7th Annual Conference on Robot Learning (CoRL), November 2023, Accepted (Accepted) BibTeX

Haptic Intelligence Autonomous Learning Empirical Inference Article Minsight: A Fingertip-Sized Vision-Based Tactile Sensor for Robotic Manipulation Andrussow, I., Sun, H., Kuchenbecker, K. J., Martius, G. Advanced Intelligent Systems, 5(8):2300042, August 2023, Inside back cover (Published) DOI BibTeX

Autonomous Learning Article Offline Diversity Maximization under Imitation Constraints Marin, V., Jin, C., Martius, G., Kolev, P. Reinforcement Learning Journal, Offline Diversity Maximization under Imitation Constraints, 3:1377-1409, July 2023 (Published) Website DOI 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 Haptic Intelligence Empirical Inference Article Predicting the Force Map of an ERT-Based Tactile Sensor Using Simulation and Deep Networks Lee, H., Sun, H., Park, H., Serhat, G., Javot, B., Martius, G., Kuchenbecker, K. J. IEEE Transactions on Automation Science and Engineering, 20(1):425-439, January 2023 (Published) DOI BibTeX

Autonomous Learning Article Discovering causal relations and equations from data Camps-Valls, G., Gerhardus, A., Ninad, U., Varando, G., Martius, G., Balaguer-Ballester, E., Vinuesa, R., Diaz, E., Zanna, L., Runge, J. Physics Reports, 1044:1-68, 2023 () DOI BibTeX

Autonomous Learning Article Interpretable Symbolic Regression for Data Science: Analysis of the 2022 Competition Franca, F. D., Virgolin, M., Kommenda, M., Majumder, M., Cranmer, M., Espada, G., Ingelse, L., Fonseca, A., Landajuela, M., Petersen, B., et al. arXiv, 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

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

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