Institute Homepage EN Sign In

DEPARTMENTS

Emperical Interference

Haptic Intelligence

Modern Magnetic Systems

Perceiving Systems

Physical Intelligence

Robotic Materials

Social Foundations of Computation

Research Groups

Autonomous Vision

Autonomous Learning

Bioinspired Autonomous Miniature Robots

Dynamic Locomotion

Embodied Vision

Human Aspects of Machine Learning

Intelligent Control Systems

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

Organizational Leadership and Diversity

Probabilistic Learning Group

Topics

Robot Learning

Conference Paper

2022

Autonomous Learning

Robotics

AI

Career

Award

Empirical Inference Learning and Dynamical Systems Conference Paper Conformal Generative Modeling with Improved Sample Efficiency through Sequential Greedy Filtering Kladny, K., Schölkopf, B., Muehlebach, M. The Thirteenth International Conference on Learning Representations (ICLR), April 2025, Accepted (Accepted) URL BibTeX
Learning and Dynamical Systems Conference Paper Distributed Event-Based Learning via ADMM Er, D., Trimpe, S., Muehlebach, M. In International Conference on Machine Learning, 2025, Submitted (Submitted) URL BibTeX
Learning and Dynamical Systems Conference Paper Adversarial Training for Defense Against Label Poisoning Attacks Bal, M. I., Cevher, V., Muehlebach, M. In International Conference on Learning Representations, 2025, Accepted (Accepted) BibTeX
Learning and Dynamical Systems Conference Paper Conformal Generative Modeling with Improved Sample Efficiency through Sequential Greedy Filtering Kladny, K., Schölkopf, B., Muehlebach, M. In International Conference On Learning Representations, International Conference on Learning Representations, 2025, Accepted (Accepted) URL BibTeX
Learning and Dynamical Systems Empirical Inference Article Deep Backtracking Counterfactuals for Causally Compliant Explanations Kladny, K., Kügelgen, J. V., Schölkopf, B., Muehlebach, M. Transactions on Machine Learning Research, July 2024 (Published) arXiv URL BibTeX
Empirical Inference Learning and Dynamical Systems Robotics Conference Paper Safe & Accurate at Speed with Tendons: A Robot Arm for Exploring Dynamic Motion Guist, S., Schneider, J., Ma, H., Chen, L., Berenz, V., Martus, J., Ott, H., Grüninger, F., Muehlebach, M., Fiene, J., et al. Proceedings of Robotics: Science and Systems, July 2024 (Published) arXiv Project Page DOI URL BibTeX
Learning and Dynamical Systems Article A Pontryagin Perspective on Reinforcement Learning Eberhard, O., Vernade, C., Muehlebach, M. Learning for Dynamics and Control Conference, 2024, Submitted (Submitted) URL BibTeX
Learning and Dynamical Systems Article Accelerated First-Order Optimization under Nonlinear Constraints Muehlebach, M., Jordan, M. I. Mathematical Programming, 2024, Submitted (Submitted) URL BibTeX
Learning and Dynamical Systems Article Balancing a 3D Inverted Pendulum using Remote Magnetic Manipulation Zughaibi, J., Nelson, B. J., Muehlebach, M. Robotics and Automation Letters, 2024, In revision (In revision) URL BibTeX
Learning and Dynamical Systems Conference Paper Conformal Performance Range Prediction for Segmentation Output Quality Control Wundram, A., Fischer, P., Muehlebach, M., Koch, L., Baumgartner, C. International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2024 (Published) BibTeX
Learning and Dynamical Systems Article Gray-box nonlinear feedback optimization He, Z., Bolognani, S., Muehlebach, M., Dörfler, F. IEEE Transactions on Automatic Control, 2024, Submitted (Submitted) URL BibTeX
Learning and Dynamical Systems Conference Paper Online learning under adversarial nonlinear constraints Kolev, P., Martius, G., Muehlebach, M. In Advances in Neural Information Processing Systems 36, Advances in Neural Information Processing Systems, 2024 (Published) URL BibTeX
Learning and Dynamical Systems Article Primal Methods for Variational Inequality Problems with Functional Constraints Zhang, L., He, N., Muehlebach, M. Mathematical Programming, 2024, Submitted (Submitted) URL BibTeX
Learning and Dynamical Systems Article Stochastic Online Optimization for Cyber-Physical and Robotic Systems Ma, H., Zeilinger, M., Muehlebach, M. Machine Learning, 2024, Submitted (Submitted) URL BibTeX
Learning and Dynamical Systems Conference Paper Subgroup-Specific Risk-Controlled Dose Estimation in Radiotherapy Fischer, P., Willms, H., Muehlebach, M., Thorwarth, D., Schneider, M., Baumgartner, C. International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2024 (Published) BibTeX
Learning and Dynamical Systems Article Towards a systems theory of algorithms Dörfler, F., He, Z., Belgioioso, G., Bolognani, S., Lygeros, J., Muehlebach, M. IEEE Control System Letters, 2024 (Published) URL BibTeX
Learning and Dynamical Systems Article Bi-level Motion Imitation for Humanoid Robots Zhao, W., Zhao, Y., Pajarinen, J., Muehlebach, M. Conference on Robot Learning, 2024 (Published) BibTeX
Learning and Dynamical Systems Article Controlling Participation in Federated Learning with Feedback Cummins, M., Er, G. D., Muehlebach, M. 2024, Submitted (Submitted) BibTeX
Learning and Dynamical Systems Article Event-Based Federated Q-Learning Er, D., Muehlebach, M. Workshop on Foundations of RL and Control, International Conference on Machine Learning, 2024 (Published) BibTeX
Learning and Dynamical Systems Article Online Performance Optimization of Nonlinear Systems: A Gray-Box Approach He, Z., Muehlebach, M., Bolognani, S., Dörfler, F. Workshop on Foundations of RL and Control, International Conference on Machine Learning, 2024 (Published) BibTeX
Learning and Dynamical Systems Article Optimal Transport with Constraints: From Mirror Descent to Classical Mechanics Ibrahim, A. A., Muehlebach, M., De Bacco, C. Physical Review Letters, 133:057401 , 2024 (Published) DOI BibTeX
Empirical Inference Learning and Dynamical Systems IT Services Robotics Conference Paper A Robust Open-source Tendon-driven Robot Arm for Learning Control of Dynamic Motions Guist, S., Schneider, J., Ma, H., Berenz, V., Martus, J., Grüninger, F., Muehlebach, M., Fiene, J., Schölkopf, B., Büchler, B. RoboLetics: Workshop on Robot Learning in Athletics @CoRL 2023, November 2023 (Published) URL BibTeX
Learning and Dynamical Systems Empirical Inference Conference Paper Causal Effect Estimation from Observational and Interventional Data Through Matrix Weighted Linear Estimators Kladny, K., von Kügelgen, J., Schölkopf, B., Muehlebach, M. Conference on Uncertainty in Artificial Intelligence, 216:1087-1097, Proceedings of Machine Learning Research, (Editors: Evans, Robin J. and Shpitser, Ilya), PMLR, August 2023 (Published) URL BibTeX
Embodied Vision Learning and Dynamical Systems Empirical Inference Conference Paper Black-Box vs. Gray-Box: A Case Study on Learning Table Tennis Ball Trajectory Prediction with Spin and Impacts Achterhold, J., Tobuschat, P., Ma, H., Büchler, D., Muehlebach, M., Stueckler, J. In Conference on Learning for Dynamics and Control, 211:878-890, Proceedings of Machine Learning Research, (Editors: Nikolai Matni, Manfred Morari and George J. Pappa), PMLR, June 2023 (Published) preprint code URL BibTeX
Learning and Dynamical Systems Empirical Inference Master Thesis Causal Effect Estimation by Combining Observational and Interventional Data Kladny, K. ETH Zurich, Switzerland, February 2023 (Published) BibTeX
Learning and Dynamical Systems Conference Paper A Dynamical Systems Perspective on Discrete Optimization Tong, G., Muehlebach, M. In Conference on Learning for Dynamics and Control, 211:1373-1386, PMLR, 2023 (Published) URL BibTeX
Learning and Dynamical Systems Conference Paper Adaptive Decision-Making with Constraints and Dependent Losses: Performance Guarantees and Applications to Online and Nonlinear Identification Muehlebach, M. IFAC World Congress, 2023 (Published) URL BibTeX
Learning and Dynamical Systems Conference Paper Data-Efficient Online Learning of Ball Placement in Robot Table Tennis Tobuschat, P., Ma, H., Büchler, D., Schölkopf, B., Muehlebach, M. EEE/RSJ International Conference on Intelligent Robots and Systems, 2023 (Published) URL BibTeX
Learning and Dynamical Systems Conference Paper Orthogonal Directions Constrained Gradient Method: from Non-Linear Equality Constraints to Stiefel Manifold Schechtman, S., Tiapkin, D., Muehlebach, M., Moulines, E. Conference on Learning Theory, 2023 (Published) URL BibTeX
Learning and Dynamical Systems Article Reinforcement learning with model-based feedforward inputs for robotic table tennis Ma, H., Büchler, D., Schölkopf, B., Muehlebach, M. Autonomous Robots, 47, 2023 (Published) URL BibTeX
Learning and Dynamical Systems Article The One-Wheel Cubli: A 3D inverted pendulum that can balance with a single reaction wheel Hofer, M., Muehlebach, M., D’Andrea, R. Mechatronics, 91, 2023 (Published) DOI URL BibTeX
Empirical Inference Learning and Dynamical Systems Conference Paper Sampling without Replacement Leads to Faster Rates in Finite-Sum Minimax Optimization Das, A., Schölkopf, B., Muehlebach, M. Advances in Neural Information Processing Systems 35, :6749-6762, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), 36th Conference on Neural Information Processing Systems (NeurIPS 2022) , December 2022 (Published) arXiv URL BibTeX
Empirical Inference Learning and Dynamical Systems Conference Paper A Learning-based Iterative Control Framework for Controlling a Robot Arm with Pneumatic Artificial Muscles Ma, H., Büchler, D., Schölkopf, B., Muehlebach, M. Proceedings of Robotics: Science and Systems XVIII (R:SS 2022), 18, (Editors: Kris Hauser, Dylan Shell, and Shoudong Huang), Robotics: Science and Systems XVIII, June 2022 (Published) PDF DOI URL BibTeX
Learning and Dynamical Systems Conference Paper First-order Constrained Optimization: Non-smooth Dynamical System Viewpoint Schechtman, S., Tiapkin, D., Moulines, E., Muehlebach, M. IFAC Workshop on Control Applications of Optimization, 2022 (Published) URL BibTeX
Learning and Dynamical Systems Article On Constraints in First-Order Optimization: A View from Non-Smooth Dynamical Systems Muehlebach, M., Jordan, M. I. Journal of Machine Learning Research, 23, 2022 (Published) URL BibTeX
Learning and Dynamical Systems Conference Paper Optimization with Adaptive Step Size Selection from a Dynamical Systems Perspective Wadia, N. S., Jordan, M. I., Muehlebach, M. OPT2021 Workshop, Conference on Neural Information Processing Systems, Thirty-fifth Conference on Neural Information Processing Systems, 2021 (Published) URL BibTeX
Autonomous Motion Intelligent Control Systems Learning and Dynamical Systems Article Distributed Event-Based State Estimation for Networked Systems: An LMI Approach Muehlebach, M., Trimpe, S. IEEE Transactions on Automatic Control, 63(1):269-276, January 2018 (Published) arXiv (extended version) DOI BibTeX
Autonomous Motion Intelligent Control Systems Learning and Dynamical Systems Conference Paper LMI-Based Synthesis for Distributed Event-Based State Estimation Muehlebach, M., Trimpe, S. In Proceedings of the American Control Conference, July 2015 (Published) PDF DOI BibTeX
Autonomous Motion Intelligent Control Systems Learning and Dynamical Systems Conference Paper Guaranteed H2 Performance in Distributed Event-Based State Estimation Muehlebach, M., Trimpe, S. In Proceeding of the First International Conference on Event-based Control, Communication, and Signal Processing, June 2015 (Published) PDF DOI BibTeX