Publications

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

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 Article Falsification of hybrid systems with symbolic reachability analysis and trajectory splicing Bogomolov, B. S., Frehse, G., Gurung, A., Li, D., Martius, G., Ray, R. Nonlinear Analysis: Hybrid Systems, 42:101093, Elsevier, November 2021 (Published) DOI URL BibTeX

Autonomous Learning Conference Paper Making Higher Order MOT Scalable: An Efficient Approximate Solver for Lifted Disjoint Paths Hornakova, A. K. T. S. P. R. M. R. B. H. R. Proceedings 2021 IEEE/CVF INTERNATIONAL CONFERENCE ON COMPUTER VISION (ICCV 2021), :6310-6320, IEEE, ICCV, October 2021 (Published) DOI 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 Motion Autonomous Learning Article How to Train Your Differentiable Filter Kloss, A., Martius, G., Bohg, J. Autonomous Robots, 45(4):561-578, Springer, June 2021 (Published) arXiv paper 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 Article Machine learning time-local generators of open quantum dynamics Mazza, P. P., Zietlow, D., Carollo, F., Andergassen, S., Martius, G., Lesanovsky, I. Physical Review Research, 3(2):023084, April 2021 (Published) pdf DOI BibTeX

Autonomous Learning Article Emergent Goal-Anticipatory Gaze in Infants via Event-Predictive Learning and Inference Gumbsch, C., Adam, M., Elsner, B., Butz, M. V. Cognitive Science, 45(8), Wiley, January 2021 () DOI URL BibTeX

Autonomous Learning Haptic Intelligence Patent Method for force inference, method for training a feed-forward neural network, force inference module, and sensor arrangement Sun, H., Martius, G., Kuchenbecker, K. J. (PCT/EP2021/050231), Max Planck Institute for Intelligent Systems, Max Planck Ring 4, January 2021 () BibTeX

Autonomous Learning Haptic Intelligence Patent Sensor Arrangement for Sensing Forces and Methods for Fabricating a Sensor Arrangement and Parts Thereof Sun, H., Martius, G., Kuchenbecker, K. J. (PCT/EP2021/050230), Max Planck Institute for Intelligent Systems, Max Planck Ring 4, January 2021 () BibTeX

Autonomous Learning Article A Reinforcement Learning Approach to View Planning for Automated Inspection Tasks Landgraf, C., Meese, B., Pabst, M., Martius, G., Huber, M. F. Sensors, 21(6):2030, MDPI, 2021 (Published) DOI BibTeX

Autonomous Learning Article Editorial: Complexity and Self-Organization Gershenson, C., Polani, D., Martius, G. Frontiers in Robotics and AI, 8, 2021 () DOI URL BibTeX

Autonomous Learning Miscellaneous Informed Equation Learning Werner, M., Junginger, A., Hennig, P., Martius, G. arXiv, 2021 () URL BibTeX

Autonomous Learning Article Jumping over baselines with new methods to predict activation maps from resting-state fMRI Lacosse, E., Scheffler, K., Lohmann, G., Martius, G. Scientific Reports, 11:3480, Nature Group, 2021 (Published) DOI BibTeX

Autonomous Learning Article Self-tuning serverless task farming using proactive elasticity control Kehrer, S., Zietlow, D., Scheffold, J., Blochinger, W. Cluster Computing, 24(2):799-817, Springer, 2021 (Published) DOI BibTeX

Autonomous Learning Article The Impact of Action Effects on Infants’ Predictive Gaze Shifts for a Non-Human Grasping Action at 7, 11, and 18 Months Adam, M., Gumbsch, C., Butz, M. V., Elsner, B. Frontiers in Psychology, 12:695550, 2021 (Published) DOI URL BibTeX

Autonomous Learning Haptic Intelligence Robotics Patent Method for Force Inference of a Sensor Arrangement, Methods for Training Networks, Force Inference Module and Sensor Arrangement Sun, H., Martius, G., Lee, H., Spiers, A., Fiene, J. (PCT/EP2020/083261), Max Planck Institute for Intelligent Systems, Max Planck Ring 4, November 2020 () BibTeX

Autonomous Learning Haptic Intelligence Robotics Patent Sensor Arrangement for Sensing Forces and Method for Farbricating a Sensor Arrangement Spiers, A., Sun, H., Lee, H., Martius, G., Fiene, J., Seo, W. H. (PCT/EP2020/083260), November 2020 () 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

Empirical Inference Autonomous Learning Conference Paper Fast Non-Parametric Learning to Accelerate Mixed-Integer Programming for Hybrid Model Predictive Control Zhu, J., Martius, G. IFAC-PapersOnLine, 21rst IFAC World Congress, 53(2):5239-5245, Elsevier, Amsterdam, 21rst IFAC World Congress, July 2020 (Published) arXiv DOI URL 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

Empirical Inference Autonomous Learning Autonomous Motion Movement Generation and Control Conference Paper A Real-Robot Dataset for Assessing Transferability of Learned Dynamics Models Agudelo-España, D., Zadaianchuk, A., Wenk, P., Garg, A., Akpo, J., Grimminger, F., Viereck, J., Naveau, M., Righetti, L., Martius, G., et al. IEEE International Conference on Robotics and Automation (ICRA), :8151-8157, IEEE, 2020 (Published) Project Page PDF DOI BibTeX

Autonomous Learning Article Analytical classical density functionals from an equation learning network Lin, S., Martius, G., Oettel, M. The Journal of Chemical Physics, 152(2):021102, 2020 (Published) arXiv Supplementary Preprint_PDF DOI 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

Publications

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