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Micro, Nano, and Molecular Systems

Movement Generation and Control

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Haptic Intelligence Conference Paper Handling Scan-Time Parameters in Haptic Surface Classification Burka, A., Kuchenbecker, K. J. In Proceedings of the IEEE World Haptics Conference (WHC), :424-429, Munich, Germany, June 2017 (Published) DOI BibTeX
Haptic Intelligence Miscellaneous How Should Robots Hug? Block, A. E., Kuchenbecker, K. J. Work-in-progress paper (2 pages) presented at the IEEE World Haptics Conference (WHC), Munich, Germany, June 2017 (Published) BibTeX
Haptic Intelligence Article Perception of Force and Stiffness in the Presence of Low-Frequency Haptic Noise Gurari, N., Okamura, A. M., Kuchenbecker, K. J. PLoS ONE, 12(6):e0178605, June 2017 () DOI URL BibTeX
Haptic Intelligence Miscellaneous Physically Interactive Exercise Games with a Baxter Robot Fitter, N. T., Kuchenbecker, K. J. Hands-on demonstration presented at the IEEE World Haptics Conference (WHC), Munich, Germany, June 2017 (Published) BibTeX
Physical Intelligence Article Soiled adhesive pads shear clean by slipping: a robust self-cleaning mechanism in climbing beetles Amador, G., Endlein, T., Sitti, M. Journal of The Royal Society Interface, 14(131):20170134, 2017 () DOI BibTeX
Empirical Inference Conference Paper State-Regularized Policy Search for Linearized Dynamical Systems Abdulsamad, H., Arenz, O., Peters, J., Neumann, G. Proceedings of the Twenty-Seventh International Conference on Automated Planning and Scheduling, (ICAPS), :419-424, (Editors: Laura Barbulescu, Jeremy Frank, Mausam and Stephen F. Smith), AAAI Press, June 2017 (Published) URL BibTeX
Physical Intelligence Article Tail-Assisted Mobility and Stability Enhancement in Yaw/Pitch Motions of a Water-Running Robot Kim, H., Sitti, M., Seo, T. IEEE/ASME Transactions on Mechatronics, 22(3):1207–1217, IEEE, 2017 () DOI BibTeX
Haptic Intelligence Miscellaneous Teaching a Robot to Collaborate with a Human Via Haptic Teleoperation Hu, S., Kuchenbecker, K. J. Work-in-progress paper (2 pages) presented at the IEEE World Haptics Conference (WHC), Munich, Germany, June 2017 (Published) BibTeX
Physical Intelligence Article Three‐dimensional patterning in biomedicine: Importance and applications in neuropharmacology Ajay Vikram Singh, T. G. M. B. B. P. T. E. M. S. Journal of Biomedical Materials Research Part B: Applied Biomaterials, 106(3):1369-1382, 2017 () DOI BibTeX
Physical Intelligence Article Yield prediction in parallel homogeneous assembly Ipparthi, D., Winslow, A., Sitti, M., Dorigo, M., Mastrangeli, M. Soft Matter, 13(41):7595-7608, 2017 () DOI BibTeX
Haptic Intelligence Miscellaneous Proton Pack: Visuo-Haptic Surface Data Recording Burka, A., Kuchenbecker, K. J. Hands-on demonstration presented at the IEEE World Haptics Conference (WHC), Munich, Germany, June 2017 (Published) BibTeX
Empirical Inference Conference Paper Deep Reinforcement Learning for Robotic Manipulation with Asynchronous Off-Policy Updates Gu*, S., Holly*, E., Lillicrap, T., Levine, S. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Piscataway, NJ, USA, May 2017, *equal contribution (Published) Arxiv DOI BibTeX
Physical Intelligence Conference Paper Design and actuation of a magnetic millirobot under a constant unidirectional magnetic field Erin, O., Giltinan, J., Tsai, L., Sitti, M. In 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017 IEEE International Conference on Robotics and Automation (ICRA), :3404-3410, IEEE, Piscataway, NJ, USA, IEEE International Conference on Robotics and Automation (ICRA), May 2017 () DOI BibTeX
Autonomous Motion Conference Paper Learning Feedback Terms for Reactive Planning and Control Rai, A., Sutanto, G., Schaal, S., Meier, F. Proceedings 2017 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Piscataway, NJ, USA, IEEE International Conference on Robotics and Automation (ICRA), May 2017 (Published) pdf video BibTeX
Physical Intelligence Conference Paper Magnetically actuated soft capsule endoscope for fine-needle aspiration biopsy Son, D., Dogan, M. D., Sitti, M. In Proceedings 2017 IEEE International Conference on Robotics and Automation (ICRA), :1132-1139, IEEE, Piscataway, NJ, USA, 2017 IEEE International Conference on Robotics and Automation (ICRA), May 2017 () DOI BibTeX
Autonomous Motion Intelligent Control Systems Conference Paper Model-Based Policy Search for Automatic Tuning of Multivariate PID Controllers Doerr, A., Nguyen-Tuong, D., Marco, A., Schaal, S., Trimpe, S. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), :5295-5301, IEEE, Piscataway, NJ, USA, IEEE International Conference on Robotics and Automation (ICRA), May 2017 (Published) PDF arXiv DOI BibTeX
Haptic Intelligence Conference Paper Proton 2: Increasing the Sensitivity and Portability of a Visuo-haptic Surface Interaction Recorder Burka, A., Rajvanshi, A., Allen, S., Kuchenbecker, K. J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), :439-445, Singapore, May 2017 (Published) DOI BibTeX
Dynamic Locomotion Conference Paper Scalable Pneumatic and Tendon Driven Robotic Joint Inspired by Jumping Spiders Sproewitz, A., Göttler, C., Sinha, A., Caer, C., Öztekin, M. U., Petersen, K., Sitti, M. In Proceedings 2017 IEEE International Conference on Robotics and Automation (ICRA), :64-70, IEEE, Piscataway, NJ, USA, IEEE International Conference on Robotics and Automation (ICRA), May 2017 () Video DOI URL BibTeX
Autonomous Motion Probabilistic Numerics Intelligent Control Systems Conference Paper Virtual vs. Real: Trading Off Simulations and Physical Experiments in Reinforcement Learning with Bayesian Optimization Marco, A., Berkenkamp, F., Hennig, P., Schoellig, A. P., Krause, A., Schaal, S., Trimpe, S. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), :1557-1563, IEEE, Piscataway, NJ, USA, May 2017 (Published) PDF arXiv ICRA 2017 Spotlight presentation Virtual vs. Real - Video explanation DOI BibTeX
Empirical Inference Conference Paper A Learning-based Shared Control Architecture for Interactive Task Execution Farraj, F. B., Osa, T., Pedemonte, N., Peters, J., Neumann, G., Giordano, P. IEEE International Conference on Robotics and Automation (ICRA), :329-335, IEEE, May 2017 (Published) DOI BibTeX
Haptic Intelligence Miscellaneous An Interactive Augmented-Reality Video Training Platform for the da Vinci Surgical System Carlson, J., Kuchenbecker, K. J. Workshop paper (3 pages) presented at the ICRA Workshop on C4 Surgical Robots, Singapore, May 2017 (Published) BibTeX
Physical Intelligence Article Bioadhesive Bacterial Microswimmers for Targeted Drug Delivery in the Urinary and Gastrointestinal Tracts Mostaghaci, B., Yasa, O., Zhuang, J., Sitti, M. Advanced Science, 4(6):1700058, 2017 () DOI BibTeX
Physical Intelligence Article Bioinspired Composite Microfibers for Skin Adhesion and Signal Amplification of Wearable Sensors Drotlef, D., Amjadi, M., Yunusa, M., Sitti, M. Advanced Materials, 29(28):1701353, 2017 () DOI BibTeX
Empirical Inference Conference Paper Context-Driven Movement Primitive Adaptation Wilbers, D., Lioutikov, R., Peters, J. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , :3469-3475, IEEE, May 2017 (Published) DOI BibTeX
Physical Intelligence Article Controllable load sharing for soft adhesive interfaces on three-dimensional surfaces Song, S., Drotlef, D., Majidi, C., Sitti, M. Proceedings of the National Academy of Sciences, 114(22):E4344–E4353, 2017 () DOI BibTeX
Physical Intelligence Article Dynamic and programmable self-assembly of micro-rafts at the air-water interface Wang, W., Giltinan, J., Zakharchenko, S., Sitti, M. Science Advances, 3(5):e1602522, 2017 () DOI BibTeX
Empirical Inference Conference Paper Empowered skills Gabriel, A., Akrour, R., Peters, J., Neumann, G. IEEE International Conference on Robotics and Automation (ICRA), :6435-6441, IEEE, May 2017 (Published) DOI BibTeX
Empirical Inference Conference Paper Frequency Peak Features for Low-Channel Classification in Motor Imagery Paradigms Jayaram, V., Schölkopf, B., Grosse-Wentrup, M. Proceedings of the 8th International IEEE/EMBS Conference on Neural Engineering (NER), :321-324, May 2017 (Published) DOI BibTeX
Haptic Intelligence Article Haptic Feedback in Needle Insertion Modeling and Simulation Gourishetti, R., Manivannan, M. IEEE Reviews in Biomedical Engineering , 10:63-77, IEEE, May 2017 (Published) DOI BibTeX
Haptic Intelligence Master Thesis How Should Robots Hug? Block, A. E. University of Pennsylvania, May 2017, Robotics Degree Program () BibTeX
Perceiving Systems Ph.D. Thesis Human Shape Estimation using Statistical Body Models Loper, M. M. University of Tübingen, May 2017 () Official Version BibTeX
Empirical Inference Conference Paper Layered direct policy search for learning hierarchical skills End, F., Akrour, R., Peters, J., Neumann, G. IEEE International Conference on Robotics and Automation (ICRA), :6442-6448, IEEE, May 2017 (Published) DOI BibTeX
Physical Intelligence Article Presentation of functional groups on self-assembled supramolecular peptide nanofibers mimicking glycosaminoglycans for directed mesenchymal stem cell differentiation Yasa, O., Uysal, O., Ekiz, M. S., Guler, M. O., Tekinay, A. B. Journal of Materials Chemistry B, 5(25):4890-4900, The Royal Society of Chemistry, 2017 () DOI BibTeX
Physical Intelligence Article Propulsion and Chemotaxis in Bacteria-Driven Microswimmers Zhuang, J., Park, B., Sitti, M. Advanced Science, 4(9):1700109, 2017 () DOI BibTeX
Empirical Inference Conference Paper Categorical Reparametrization with Gumbel-Softmax Jang, E., Gu, S., Poole, B. Proceedings International Conference on Learning Representations (ICLR), April 2017 (Published) URL BibTeX
Empirical Inference Conference Paper DeepCoder: Learning to Write Programs Balog, M., Gaunt, A. L., Brockschmidt, M., Nowozin, S., Tarlow, D. Proceedings International Conference on Learning Representations (ICLR), April 2017 (Published) Arxiv URL BibTeX
Empirical Inference Conference Paper Q-Prop: Sample-Efficient Policy Gradient with An Off-Policy Critic Gu, S., Lillicrap, T., Ghahramani, Z., Turner, R. E., Levine, S. Proceedings International Conference on Learning Representations (ICLR), April 2017 (Published) PDF URL BibTeX
Empirical Inference Conference Paper Distilling Information Reliability and Source Trustworthiness from Digital Traces Tabibian, B., Valera, I., Farajtabar, M., Song, L., Schölkopf, B., Gomez Rodriguez, M. Proceedings of the 26th International Conference on World Wide Web (WWW), :847-855, (Editors: Barrett, R., Cummings, R., Agichtein, E. and Gabrilovich, E. ), ACM, April 2017 (Published) Project DOI BibTeX
Empirical Inference Poster Estimating B0 inhomogeneities with projection FID navigator readouts Loktyushin, A., Ehses, P., Schölkopf, B., Scheffler, K. 25th Annual Meeting and Exhibition of the International Society for Magnetic Resonance in Medicine (ISMRM 2017), April 2017 (Published) URL BibTeX
Probabilistic Numerics Conference Paper Fast Bayesian Optimization of Machine Learning Hyperparameters on Large Datasets Klein, A., Falkner, S., Bartels, S., Hennig, P., Hutter, F. Proceedings of the 20th International Conference on Artificial Intelligence and Statistics (AISTATS), 54:528-536, Proceedings of Machine Learning Research, (Editors: Sign, Aarti and Zhu, Jerry), PMLR, April 2017 (Published) pdf URL BibTeX
Empirical Inference Article Guiding Trajectory Optimization by Demonstrated Distributions Osa, T., Ghalamzan E., A. M., Stolkin, R., Lioutikov, R., Peters, J., Neumann, G. IEEE Robotics and Automation Letters, 2(2):819-826, April 2017 (Published) DOI BibTeX
Physical Intelligence Article Hydrophobic pinning with copper nanowhiskers leads to bactericidal properties Singh, A. V., Baylan, S., Park, B., Richter, G., Sitti, M. PloS One, 12(4):e0175428, 2017 () BibTeX
Empirical Inference Poster Image Quality Improvement by Applying Retrospective Motion Correction on Quantitative Susceptibility Mapping and R2* Feng, X., Loktyushin, A., Deistung, A., Reichenbach, J. 25th Annual Meeting and Exhibition of the International Society for Magnetic Resonance in Medicine (ISMRM 2017), April 2017 (Published) URL BibTeX
Empirical Inference Conference Paper Local Group Invariant Representations via Orbit Embeddings Raj, A., Kumar, A., Mroueh, Y., Fletcher, T., Schölkopf, B. Proceedings of the 20th International Conference on Artificial Intelligence and Statistics (AISTATS), 54:1225-1235, Proceedings of Machine Learning Research, (Editors: Aarti Singh and Jerry Zhu), April 2017 (Published) URL BibTeX
Autonomous Motion Article Probabilistic Articulated Real-Time Tracking for Robot Manipulation Garcia Cifuentes, C., Issac, J., Wüthrich, M., Schaal, S., Bohg, J. IEEE Robotics and Automation Letters (RA-L), 2(2):577-584, April 2017 (Published) arXiv video code and dataset video PDF DOI BibTeX
Micro, Nano, and Molecular Systems Article Soft 3D-Printed Phantom of the Human Kidney with Collecting System Adams, F., Qiu, T., Mark, A., Fritz, B., Kramer, L., Schlager, D., Wetterauer, U., Miernik, A., Fischer, P. Ann. of Biomed. Eng., 45(4):963-972, April 2017 (Published) DOI BibTeX
Empirical Inference Article Whole-body multi-contact motion in humans and humanoids: Advances of the CoDyCo European project Padois, V., Ivaldi, S., Babic, J., Mistry, M., Peters, J., Nori, F. Robotics and Autonomous Systems, 90:97-117, April 2017, Special Issue on New Research Frontiers for Intelligent Autonomous Systems (Published) DOI BibTeX
Micro, Nano, and Molecular Systems Book Chapter Chapter 8 - Micro- and nanorobots in Newtonian and biological viscoelastic fluids Palagi, S., (Walker) Schamel, D., Qiu, T., Fischer, P. In Microbiorobotics, :133 - 162, 8, Micro and Nano Technologies, Second edition, Elsevier, Boston, March 2017 (Published) DOI URL BibTeX
Empirical Inference Conference Paper Automatic detection of motion artifacts in MR images using CNNs Meding, K., Loktyushin, A., Hirsch, M. 42nd IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), :811-815, March 2017 (Published) DOI BibTeX
Haptic Intelligence Miscellaneous Automatic OSATS Rating of Trainee Skill at a Pediatric Laparoscopic Suturing Task Oquendo, Y. A., Riddle, E. W., Hiller, D., Blinman, T. A., Kuchenbecker, K. J. Surgical Endoscopy, 31(Supplement 1):S28, Extended abstract presented as a podium presentation at the Annual Meeting of the Society of American Gastrointestinal and Endoscopic Surgeons (SAGES), Springer, Houston, USA, March 2017 (Published) BibTeX