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Micro, Nano, and Molecular Systems

Movement Generation and Control

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Haptic Intelligence Embodied Vision Robotics Conference Paper Visuo-Tactile Object Pose Estimation for a Multi-Finger Robot Hand with Low-Resolution In-Hand Tactile Sensing Mack, L., Grüninger, F., Richardson, B. A., Lendway, R., Kuchenbecker, K. J., Stueckler, J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Atlanta, USA, May 2025, Accepted (Accepted) 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
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
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
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
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
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
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
Embodied Vision Ph.D. Thesis Investigating Shape Priors, Relationships, and Multi-Task Cues for Object-level Scene Understanding Elich, C. ETH Zürich, Zurich, 2024 (Published) DOI URL BibTeX
Embodied Vision Ph.D. Thesis Methods for Learning Adaptive and Symbolic Forward Models for Control and Planning Achterhold, J. M. Eberhard Karls Universität Tübingen, Tübingen, 2024 (Published) DOI 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
Embodied Vision Conference Paper Context-Conditional Navigation with a Learning-Based Terrain- and Robot-Aware Dynamics Model Guttikonda, S., Achterhold, J., Li, H., Boedecker, J., Stueckler, J. In Proceedings of the European Conference on Mobile Robots (ECMR), 2023 (Published) preprint code DOI URL BibTeX
Embodied Vision Conference Paper Learning-based Relational Object Matching Across Views Elich, C., Armeni, I., Oswald, M. R., Pollefeys, M., Stueckler, J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023 (Published) preprint code DOI URL BibTeX
Embodied Vision Ph.D. Thesis Object-Level Dynamic Scene Reconstruction With Physical Plausibility From RGB-D Images Strecke, M. F. Eberhard Karls Universität Tübingen, Tübingen, 2023 (Published) DOI URL BibTeX
Embodied Vision Autonomous Motion Movement Generation and Control Conference Paper Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion Dhédin, V., Li, H., Khorshidi, S., Mack, L., Ravi, A. K. C., Meduri, A., Shah, P., Grimminger, F., Righetti, L., Khadiv, M., et al. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023 (Published) preprint video DOI URL BibTeX
Embodied Vision Article Visual-Inertial Odometry with Online Calibration of Velocity-Control Based Kinematic Motion Models Li, H., Stueckler, J. IEEE Robotics and Automation Letters, 7(3):6415-6422, July 2022, Accepted for oral presentation at IEEE ICRA 2023 (Published) preprint DOI URL BibTeX
Embodied Vision Article Weakly Supervised Learning of Multi-Object 3D Scene Decompositions Using Deep Shape Priors Elich, C., Oswald, M. R., Pollefeys, M., Stueckler, J. Computer Vision and Image Understanding (CVIU), 220, July 2022 (Published) Link Preprint DOI URL BibTeX
Embodied Vision Conference Paper Event-based Non-Rigid Reconstruction from Contours Xue, Y., Li, H., Leutenegger, S., Stueckler, J. In Proceedings of the British Machine Vision Conference (BMVC), 2022 (Published) preprint video URL BibTeX
Embodied Vision Conference Paper Learning Temporally Extended Skills in Continuous Domains as Symbolic Actions for Planning Achterhold, J., Krimmel, M., Stueckler, J. In Proceedings of the 6th Conference on Robot Learning (CoRL), 205:225-236 , Proceedings of Machine Learning Research , 6th Annual Conference on Robot Learning (CoRL 2022) , 2022 (Published) preprint project website URL BibTeX
Embodied Vision Technical Report Observability Analysis of Visual-Inertial Odometry with Online Calibration of Velocity-Control Based Kinematic Motion Models Li, H., Stueckler, J. abs/2204.06651, CoRR/arxiv, 2022 (Published) URL BibTeX
Embodied Vision Conference Paper DiffSDFSim: Differentiable Rigid-Body Dynamics With Implicit Shapes Strecke, M., Stückler, J. In 2021 International Conference on 3D Vision (3DV 2021) , :96-105 , International Conference on 3D Vision (3DV 2021) , December 2021 (Published) Project website Preprint Code DOI URL BibTeX
Embodied Vision Talk Physically Plausible Tracking & Reconstruction of Dynamic Objects Strecke, M., Stückler, J. KIT Science Week Scientific Conference & DGR-Days 2021, October 2021, Submitted (Submitted) BibTeX
Embodied Vision Conference Paper Explore the Context: Optimal Data Collection for Context-Conditional Dynamics Models Achterhold, J., Stueckler, J. In Proceedings of The 24th International Conference on Artificial Intelligence and Statistics (AISTATS 2021) , 130, JMLR, Cambridge, MA, Titel The 24th International Conference on Artificial Intelligence and Statistics (AISTATS 2021) , April 2021, preprint CoRR abs/2102.11394 (Published) Preprint Project page Poster URL BibTeX
Embodied Vision Article Physical Representation Learning and Parameter Identification from Video Using Differentiable Physics Kandukuri, R., Achterhold, J., Moeller, M., Stueckler, J. International Journal of Computer Vision, 130:3-16, 2021 (Published) DOI URL BibTeX
Embodied Vision Conference Paper Tracking 6-DoF Object Motion from Events and Frames Li, H., Stueckler, J. In Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), 2021 (Published) preprint DOI URL BibTeX
Embodied Vision Conference Paper Where Does It End? - Reasoning About Hidden Surfaces by Object Intersection Constraints Strecke, M., Stückler, J. In 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2020), :9589 - 9597, IEEE, Piscataway, NJ, IEEE/CVF International Conference on Computer Vision and Pattern Recognition (CVPR 2020), June 2020, preprint Corr abs/2004.04630 (Published) preprint project page Code DOI BibTeX
Embodied Vision Conference Paper DirectShape: Photometric Alignment of Shape Priors for Visual Vehicle Pose and Shape Estimation Wang, R., Yang, N., Stückler, J., Cremers, D. In Proceedings of the IEEE international Conference on Robotics and Automation (ICRA), :11067 - 11073, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, arXiv:1904.10097 (Published) DOI BibTeX
Embodied Vision Conference Paper Learning to Adapt Multi-View Stereo by Self-Supervision Mallick, A., Stückler, J., Lensch, H. In Proceedings of the British Machine Vision Conference (BMVC), 2020, preprint https://arxiv.org/abs/2009.13278 (Published) URL BibTeX
Embodied Vision Conference Paper Learning to Identify Physical Parameters from Video Using Differentiable Physics Kandukuri, R., Achterhold, J., Moeller, M., Stueckler, J. Proc. of the 42th German Conference on Pattern Recognition (GCPR), 2020, GCPR 2020 Honorable Mention, preprint https://arxiv.org/abs/2009.08292 (Published) URL BibTeX
Embodied Vision Empirical Inference Article Numerical Quadrature for Probabilistic Policy Search Vinogradska, J., Bischoff, B., Achterhold, J., Koller, T., Peters, J. IEEE Transactions on Pattern Analysis and Machine Intelligence, 42(1):164-175, 2020 (Published) DOI BibTeX
Embodied Vision Conference Paper Planning from Images with Deep Latent Gaussian Process Dynamics Bosch, N., Achterhold, J., Leal-Taixe, L., Stückler, J. Proceedings of the 2nd Conference on Learning for Dynamics and Control (L4DC), 120:640-650, Proceedings of Machine Learning Research (PMLR), (Editors: Alexandre M. Bayen and Ali Jadbabaie and George Pappas and Pablo A. Parrilo and Benjamin Recht and Claire Tomlin and Melanie Zeilinger), 2020, preprint arXiv:2005.03770 (Published) Ppreprint Project page Code poster URL 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
Embodied Vision Book Chapter TUM Flyers: Vision-Based MAV Navigation for Systematic Inspection of Structures Usenko, V., Stumberg, L. V., Stückler, J., Cremers, D. In Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users: The Experience of the European Robotics Challenges, 136:189-209, Springer Tracts in Advanced Robotics, Springer International Publishing, 2020 (Published) DOI URL BibTeX
Embodied Vision Article Visual-Inertial Mapping with Non-Linear Factor Recovery Usenko, V., Demmel, N., Schubert, D., Stückler, J., Cremers, D. IEEE Robotics and Automation Letters (RA-L), 5(2):422-429, 2020, presented at IEEE International Conference on Robotics and Automation (ICRA) 2020, preprint arXiv:1904.06504 (Published) Code Preprint URL BibTeX
Embodied Vision Conference Paper EM-Fusion: Dynamic Object-Level SLAM With Probabilistic Data Association Strecke, M., Stückler, J. In Proceedings IEEE/CVF International Conference on Computer Vision 2019 (ICCV), :5864-5873, IEEE, 2019 IEEE/CVF International Conference on Computer Vision (ICCV), October 2019 (Published) preprint Project page Code Poster DOI BibTeX
Embodied Vision Conference Paper Learning to Disentangle Latent Physical Factors for Video Prediction Zhu, D., Munderloh, M., Rosenhahn, B., Stückler, J. In Pattern Recognition - Proceedings German Conference on Pattern Recognition (GCPR), Springer International, German Conference on Pattern Recognition (GCPR), September 2019 (Published) dataset & evaluation code video preprint DOI BibTeX
Embodied Vision Technical Report Detailed Dense Inference with Convolutional Neural Networks via Discrete Wavelet Transform Ma, L., Stueckler, J., Wu, T., Cremers, D. arxiv, 2018, arXiv:1808.01834 () BibTeX