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Movement Generation and Control

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Physics for Inference and Optimization

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Perceiving Systems Ph.D. Thesis Self- and Interpersonal Contact in 3D Human Mesh Reconstruction Müller, L. University of Tübingen, Tübingen, March 2024 (Published) download Thesis DOI 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
Physical Intelligence Article A simple quantitative model of neuromodulation, Part I: Ion flow through neural ion channels Werneck, L., Han, M., Yildiz, E., Keip, M., Sitti, M., Ortiz, M. Journal of the Mechanics and Physics of Solids, 182:105457, 2024 (Published) DOI 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
Materials Article Adsorption on Inkjet-Printable Polyelectrolyte Hydrogels Allows Refractive Index Sensing of Diclofenac and Metoprolol in Aqueous Solution Southan, A., Tan, J., Schuster, F., Rotenberger, J., Tovar, G. E. M. ACS Applied Polymer Materials, 6(10):6010-6021, 2024 (Published) pdf DOI URL BibTeX
Embodied Vision Conference Paper Analytical Uncertainty-Based Loss Weighting in Multi-Task Learning Kirchdorfer, L., Elich, C., Kutsche, S., Stuckenschmidt, H., Schott, L., Köhler, J. M. In Proceedings of the German Conference on Pattern Recognition (GCPR), 2024, to appear, To be published (To be published) BibTeX
Physical Intelligence Article Artificial-goosebump-driven microactuation Zhang, M., Pal, A., Lyu, X., Wu, Y., Sitti, M. Nature Materials, 23(23):560-569, 2024 (Published) DOI URL BibTeX
Embodied Vision Article Attention Normalization Impacts Cardinality Generalization in Slot Attention Krimmel, M., Achterhold, J., Stueckler, J. In Transactions on Machine Learning Research (TMLR), 2024 (Published) preprint video source code 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
Physical Intelligence Article Capillary trapping of various nanomaterials on additively manufactured scaffolds for 3D micro-/nanofabrication Lyu, X., Zheng, Z., Shiva, A., Han, M., Dayan, C. B., Zhang, M., Sitti, M. Nature Communications, 15(15):6693, 2024 (Published) DOI BibTeX
Physical Intelligence Article Clinical translation of wireless soft robotic medical devices Wang, T., Wu, Y., Yildiz, E., Kanyas, S., Sitti, M. Nature Reviews Bioengineering, 2024 (Published) DOI BibTeX
Modern Magnetic Systems Article Coherent magnons with giant nonreciprocity at nanoscale wavelengths Gallardo, R., Weigand, M., Schultheiss, K., Kakay, A., Mattheis, R., Raabe, J., Schütz, G., Deac, A., Lindner, J., Wintz, S. ACS Nano, 18(7):5249-5257, American Chemical Society, Washington, DC, 2024 () DOI 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
Modern Magnetic Systems Article Control of stripe, skyrmion and skyrmionium formation in the 2D magnet Fe3–xGeTe2 by varying composition Birch, M. T., Powalla, L., Litzius, K., Nehruji, V., Hovorka, O., Wintz, S., Schulz, F., Mayoh, D. A., Balakrishnan, G., Weigand, M., et al. 2D Materials, 11(2), IOP Publ., Bristol, 2024 () DOI BibTeX
Haptic Intelligence Miscellaneous Discrete Fourier Transform Three-to-One (DFT321): Code Landin, N., Romano, J. M., McMahan, W., Kuchenbecker, K. J. MATLAB code of discrete fourier transform three-to-one (DFT321), 2024 (Published) Code BibTeX
Modern Magnetic Systems Article Electrical detection and nucleation of a magnetic skyrmion in a magnetic tunnel junction observed via operando magnetic microscopy Urrestarazu Larran aga, J., Sisodia, N., Guedas, R., Pham, V. T., Di Manici, I., Masseboeuf, A., Garello, K., Disdier, F., Fernandez, B., Wintz, S., et al. Nano Letters, 24(12):3557-3565, American Chemical Society, Washington, DC, 2024 () DOI BibTeX
Physical Intelligence Article Enhanced co-design and evaluation of a collective robotic construction system for the assembly of large-scale in-plane timber structures Leder, S., Kim, H., Sitti, M., Menges, A. Automation in Construction, 162:105390, 2024 (Published) DOI BibTeX
Modern Magnetic Systems Article Establishing ZIF-8 as a reference material for hydrogen cryoadsorption: An interlaboratory study Villajos, J. A., Balderas-Xicohténcatl, R., Al Shakhs, A. N., Berenguer-Murcia, A., Buckley, C. E., Cazorla-Amorós, D., Charalambopoulou, G., Couturas, F., Cuevas, F., Fairen-Jimenez, D., et al. ChemPhysChem, 25(5), Wiley-VCH, Weinheim, Germany, 2024 () DOI BibTeX
Embodied Vision Article Event-based Non-Rigid Reconstruction of Low-Rank Parametrized Deformations from Contours Xue, Y., Li, H., Leutenegger, S., Stueckler, J. International Journal of Computer Vision (IJCV), 2024 (Published) DOI URL BibTeX
Embodied Vision Conference Paper Examining Common Paradigms in Multi-Task Learning Elich, C., Kirchdorfer, L., M. Köhler, J., Schott, L. In Proceedings of the German Conference on Pattern Recognition (GCPR), 2024, to appear, To be published (To be published) paper 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
Modern Magnetic Systems Article Hydrogen-stabilized ScYNdGd medium-entropy alloy for hydrogen storage Balcerzak, M., Ponsoni, J. B., Petersen, H., Menéndez, C., Ternieden, J., Zhang, L., Winkelmann, F., Aguey-Zinsou, K., Hirscher, M., Felderhoff, M. Journal of the American Chemical Society, 146(8):5283-5294, American Chemical Society, Washington, DC, 2024 () DOI BibTeX
Physical Intelligence Article Immune Cell‐Based Microrobots for Remote Magnetic Actuation, Antitumor Activity, and Medical Imaging Dogan, N. O., Suadiye, E., Wrede, P., Lazovic, J., Dayan, C. B., Soon, R. H., Aghakhani, A., Richter, G., Sitti, M. Advanced Healthcare Materials, :2400711, 2024 (Published) DOI URL BibTeX
Embodied Vision Technical Report Incremental Few-Shot Adaptation for Non-Prehensile Object Manipulation using Parallelizable Physics Simulators Baumeister, F., Mack, L., Stueckler, J. CoRR abs/2409.13228, CoRR, 2024, Submitted to IEEE International Conference on Robotics and Automation (ICRA) 2025, Submitted (Submitted) URL BibTeX
Physical Intelligence Article Janus microparticles-based targeted and spatially-controlled piezoelectric neural stimulation via low-intensity focused ultrasound Han, M., Yildiz, E., Bozuyuk, U., Aydin, A., Yu, Y., Bhargava, A., Karaz, S., Sitti, M. Nature Communications, 15(1):2013, 2024 () DOI BibTeX
Empirical Inference Miscellaneous Learning Interpretable Concepts: Unifying Causal Representation Learning and Foundation Models Rajendran, G., Buchholz, S., Aragam, B., Schölkopf, B., Ravikumar, P. 2024 (Published) arXiv BibTeX
Physical Intelligence Article Learning Soft Millirobot Multimodal Locomotion with Sim-to-Real Transfer Demir, S. O., Tiryaki, M. E., Karacakol, A. C., Sitti, M. Advanced Science, 2024 (Published) DOI BibTeX
Embodied Vision Technical Report Learning a Terrain- and Robot-Aware Dynamics Model for Autonomous Mobile Robot Navigation Achterhold, J., Guttikonda, S., Kreber, J. U., Li, H., Stueckler, J. CoRR abs/2409.11452, 2024, Preprint submitted to Robotics and Autonomous Systems Journal. https://arxiv.org/abs/2409.11452, Submitted (Submitted) 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
Empirical Inference Miscellaneous Multi-Armed Bandits and Quantum Channel Oracles Buchholz, S., Kübler, J. M., Schölkopf, B. 2024 (Published) arXiv BibTeX
Physical Intelligence Medical Systems Article Nanodiamond-Enhanced Magnetic Resonance Imaging Jelena Lazovic, E. G. A. W. P. S. A. S. J. L. G. W. M. S. Advanced Materials, 36(11):2310109, 2024 () DOI BibTeX
Perceiving Systems Ph.D. Thesis Natural Language Control for 3D Human Motion Synthesis Petrovich, M. LIGM, Ecole des Ponts, Univ Gustave Eiffel, CNRS, 2024 (Published) Thesis BibTeX
Autonomous Learning Miscellaneous Natural and Robust Walking using Reinforcement Learning without Demonstrations in High-Dimensional Musculoskeletal Models 2024 () URL BibTeX
Embodied Vision Conference Paper Online Calibration of a Single-Track Ground Vehicle Dynamics Model by Tight Fusion with Visual-Inertial Odometry Li, H., Stueckler, J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2024 (Published) preprint supplemental video code datasets DOI 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
Empirical Inference Article Optimal Decision Making Under Strategic Behavior Tsirtsis, S., Tabibian, B., Khajehnejad, M., Singla, A., Schölkopf, B., Gomez-Rodriguez, M. Management Science, 2024, Published Online, In press (In press) DOI BibTeX
Empirical Inference Article Parameterizing pressure-temperature profiles of exoplanet atmospheres with neural networks Gebhard, T. D., Angerhausen, D., Konrad, B. S., Alei, E., Quanz, S. P., Schölkopf, B. Astronomy & Astrophysics, 681, 2024 (Published) DOI BibTeX
Physical Intelligence Article Perspective on smart materials for empowering small-scale manipulation Zhang, M., Sitti, M. Science Bulletin, 69(6):718-721, 2024 (Published) DOI URL BibTeX
Embodied Vision Conference Paper Physically Plausible Object Pose Refinement in Cluttered Scenes Strecke, M., Stueckler, J. In Proceedings of the German Conference on Pattern Recognition (GCPR), 2024, to appear, To be published (To be published) code preprint (submitted version) BibTeX
Embodied Vision Conference Paper Physics-Based Rigid Body Object Tracking and Friction Filtering From RGB-D Videos Kandukuri, R. K., Strecke, M., Stueckler, J. In Proceedings of the International Conference on 3D Vision (3DV), 2024 (Published) preprint supplemental video dataset DOI 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
Physical Intelligence Article Roadmap for Clinical Translation of Mobile Microrobotics Bozuyuk, U., Wrede, P., Yildiz, E., Sitti, M. Advanced Materials, 2311462, 2024 () DOI BibTeX
Physical Intelligence Article Single-step precision programming of decoupledmultiresponsive soft millirobots Zheng, Z., Han, J., Shi, Q., Demir, S. O., Jiang, W., Sitti, M. PNAS, 121, 2024 (Published) DOI URL BibTeX
Modern Magnetic Systems Article Size-dependent bistability of magnetic states in soft magnetic cap arrays Sam, S. A., Seyd, J., Ullrich, A., Jung, F., Groß, F., Krupiński, M., Albrecht, M., Thomas, S. Nanotechnology, 35(22), IOP Pub., Bristol, UK, 2024 () DOI BibTeX
Modern Magnetic Systems Article Small-pore hydridic frameworks store densely packed hydrogen Oh, H., Tumanov, N., Ban, V., Li, X., Richter, B., Hudson, M. R., Brown, C. M., Iles, G. N., Wallacher, D., Jorgensen, S. W., et al. Nature Chemistry, 16(5):809-816, Nature Publishing Group, London, UK, 2024 () DOI BibTeX
Materials Article Soft Sub-Structured Multi-Material Biosensor Hydrogels with Enzymes Retained by Plant Viral Scaffolds Grübel, J., Wendlandt, T., Urban, D., Jauch, C. O., Wege, C., Tovar, G. E. M., Southan, A. Macromolecular Bioscience, 24(3), Wiley, 2024 (Published) pdf DOI 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
Materials Article Unravelling parameter interactions in calcium alginate/polyacrylamide double network hydrogels using a design of experiments approach for the optimization of mechanical properties Gorke, O., Stuhlmüller, M., Tovar, G. E. M., Southan, A. Materials Advances, 5:2851-2859, Royal Society of Chemistry, 2024 (Published) pdf DOI URL BibTeX