Max Planck Institute for Intelligent Systems

Haptic Intelligence Autonomous Learning Empirical Inference Miscellaneous A Sequential Group VAE for Robot Learning of Haptic Representations Richardson, B. A., Kuchenbecker, K. J., Martius, G. :1-11, Workshop paper (8 pages) presented at the CoRL Workshop on Aligning Robot Representations with Humans, Auckland, New Zealand, December 2022 (Published) URL BibTeX

Empirical Inference Article A survey of algorithmic recourse: contrastive explanations and consequential recommendations Karimi, A., Barthe, G., Schölkopf, B., Valera, I. ACM Computing Surveys, 55(5), Association for Computing Machinery (ACM), December 2022 (Published) arXiv DOI URL BibTeX

Empirical Inference Conference Paper Active Bayesian Causal Inference Toth, C., Lorch, L., Knoll, C., Krause, A., Pernkopf, F., Peharz*, R., von Kügelgen*, J. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), 35:16261-16275, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems (NeurIPS 2022), December 2022, *shared last author (Published) arXiv URL BibTeX

Empirical Inference Conference Paper Amortized Inference for Causal Structure Learning Lorch, L., Sussex, S., Rothfuss, J., Krause, A., Schölkopf, B. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), 35:13104-13118, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems, December 2022 (Published) arXiv URL BibTeX

Physics for Inference and Optimization Article Anomaly detection and community detection in networks Safdari, H., De Bacco, C. Journal of Big Data, 9, 122, December 2022 (Published) Preprint Code Published version DOI BibTeX

Empirical Inference Conference Paper AutoML Two-Sample Test Kübler, J. M., Stimper, V., Buchholz, S., Muandet, K., Schölkopf, B. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), 35:15929-15941, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems, December 2022 (Published) arXiv URL BibTeX

Perceiving Systems Conference Paper Capturing and Animation of Body and Clothing from Monocular Video Feng, Y., Yang, J., Pollefeys, M., Black, M. J., Bolkart, T. In Proceedings SIGGRAPH Asia 2022 Conference Papers Proceedings (SA ’22 2022) , SIGGRAPH Asia 2022 Conference Papers Proceedings (SA'22) , December 2022 (Published) project code pdf DOI URL BibTeX

Empirical Inference Conference Paper Causal Discovery in Heterogeneous Environments Under the Sparse Mechanism Shift Hypothesis Perry, R., von Kügelgen*, J., Schölkopf*, B. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), :10904-10917, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems (NeurIPS 2022), December 2022, *shared last author (Published) arXiv URL BibTeX

Physical Intelligence Article Control of Two-Degree-of-Freedom Inertial Appendages of a Small-Scale Jumping Robot for Enhanced Terrestrial and Aerial Maneuverability Hong, C., Tang, D., Quan, Q., Cao, Z., Wang, C., Sitti, M., Deng, Z. IEEE/ASME Transactions on Mechatronics, 28(3):1754-1765, December 2022 () DOI URL 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 35 (NeurIPS 2022), :24170-24183 , Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems (NeurIPS 2022), December 2022 (Published) Arxiv Videos Openreview URL BibTeX

Physical Intelligence Patent DRY ADHESIVES AND METHODS FOR MAKING DRY ADHESIVES Metin Sitti, M. M. B. A. December 2022, US Patent App. 17/895,334, 2022 () BibTeX

Empirical Inference Conference Paper Decoding Attention from Gaze: A Benchmark Dataset and End-to-End Models Uppal, K., Kim, J., Singh, S. Proceedings of The 1st Gaze Meets ML workshop in conjunction with NeurIPS 2022, 210:219-240, Proceedings of Machine Learning Research, (Editors: Lourentzou, Ismini and Wu, Joy and Kashyap, Satyananda and Karargyris, Alexandros and Celi, Leo Anthony and Kawas, Ban and Talathi, Sachin), PMLR, December 2022 (Published) PDF URL BibTeX

Empirical Inference Conference Paper Differentially Private Language Models for Secure Data Sharing Mattern, J., Jin, Z., Weggenmann, B., Schölkopf, B., Sachan, M. Proceedings of the 2022 Conference on Empirical Methods in Natural Language Processing (EMNLP), :4860-4873, (Editors: Yoav Goldberg and Zornitsa Kozareva and Yue Zhang), Association for Computational Linguistics, The 2022 Conference on Empirical Methods in Natural Language Processing (EMNLP 2022) , December 2022 (Published) arXiv DOI URL BibTeX

Empirical Inference Conference Paper Direct Advantage Estimation Pan, H., Gürtler, N., Neitz, A., Schölkopf, B. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), 35:11869-11880, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems, December 2022, *also at 15th European Workshop on Reinforcement Learning (EWRL 2022) (Published) arXiv URL BibTeX

Empirical Inference Conference Paper Efficient identification of informative features in simulation-based inference Beck, J., Deistler, M., Bernaerts, Y., Macke, J. H., Berens, P. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), 35:19260-19273, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems, December 2022 (Published) URL BibTeX

Empirical Inference Autonomous Learning Robust Machine Learning Conference Paper Embrace the Gap: VAEs Perform Independent Mechanism Analysis Reizinger*, P., Gresele*, L., Brady*, J., von Kügelgen, J., Zietlow, D., Schölkopf, B., Martius, G., Brendel, W., Besserve, M. Advances in Neural Information Processing Systems (NeurIPS 2022), 35:12040-12057, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems, December 2022, *equal first authorship (Published) Arxiv PDF URL BibTeX

Empirical Inference Conference Paper Exploring the Latent Space of Autoencoders with Interventional Assays Leeb, F., Bauer, S., Besserve, M., Schölkopf, B. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), 35:21562-21574, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems, December 2022 (Published) arXiv URL BibTeX

Empirical Inference Conference Paper Function Classes for Identifiable Nonlinear Independent Component Analysis Buchholz, S., Besserve, M., Schölkopf, B. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), 35:16946-16961, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems, December 2022 (Published) arXiv URL BibTeX

Empirical Inference Article Generalized Few-Shot Video Classification With Video Retrieval and Feature Generation Xian, Y., Korbar, B., Douze, M., Torresani, L., Schiele, B., Akata, Z. IEEE Transactions on Pattern Analysis and Machine Intelligence, 44(12):8949-8961, December 2022 (Published) DOI URL BibTeX

Empirical Inference Conference Paper Interventions, Where and How? Experimental Design for Causal Models at Scale Tigas, P., Annadani, Y., Jesson, A., Schölkopf, B., Gal, Y., Bauer, S. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), 35:24130-24143, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems, December 2022 (Published) arXiv URL BibTeX

Empirical Inference Conference Paper Invariance Learning in Deep Neural Networks with Differentiable Laplace Approximations Immer, A., van der Ouderaa, T. F. A., Rätsch, G., Fortuin, V., van der Wilk, M. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), 35:12449-12463, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems, December 2022 (Published) arXiv URL BibTeX

Autonomous Learning Conference Paper Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Li, C., Vlastelica, M., Blaes, S., Frey, J., Grimminger, F., Martius, G. Proceedings of the 6th Conference on Robot Learning (CoRL), Conference on Robot Learning (CoRL), December 2022, Accepted (Accepted) Arxiv Videos Project URL BibTeX

Empirical Inference Conference Paper Learning Random Feature Dynamics for Uncertainty Quantification Agudelo-España, D., Nemmour, Y., Schölkopf, B., Zhu, J. 2022 IEEE 61st IEEE Conference on Decision and Control (CDC), :4937-4944, IEEE, 61st IEEE Conference on Decision and Control (CDC 2022), December 2022 (Published) PDF DOI URL BibTeX

Empirical Inference Autonomous Learning Conference Paper Learning with Muscles: Benefits for Data-Efficiency and Robustness in Anthropomorphic Tasks Wochner, I., Schumacher, P., Martius, G., Büchler, D., Schmitt, S., Haeufle, D. Proceedings of the 6th Conference on Robot Learning (CoRL), 205:1178-1188, Proceedings of Machine Learning Research, (Editors: Liu, Karen and Kulic, Dana and Ichnowski, Jeff), PMLR, December 2022 (Published) URL BibTeX

Empirical Inference Conference Paper Logical Fallacy Detection Jin, Z., Lalwani, A., Vaidhya, T., Shen, X., Ding, Y., Lyu, Z., Sachan, M., Mihalcea, R., Schölkopf, B. Findings of the Association for Computational Linguistics: EMNLP 2022, :7180-7198, (Editors: Goldberg, Yoav and Kozareva, Zornitsa and Zhang, Yue), Association for Computational Linguistics, The 2022 Conference on Empirical Methods in Natural Language Processing (EMNLP 2022) , December 2022 (Published) arXiv DOI URL BibTeX

Empirical Inference Conference Paper Maximum Mean Discrepancy Distributionally Robust Nonlinear Chance-Constrained Optimization with Finite-Sample Guarantee Nemmour, Y., Kremer, H., Schölkopf, B., Zhu, J. IEEE 61st Conference on Decision and Control (CDC), :5660-5667, December 2022 (Published) DOI BibTeX

Haptic Intelligence Ph.D. Thesis Multi-Timescale Representation Learning of Human and Robot Haptic Interactions Richardson, B. University of Stuttgart, Stuttgart, Germany, December 2022, Faculty of Computer Science, Electrical Engineering and Information Technology () URL BibTeX

Physical Intelligence Medical Systems Article Multifunctional 3D-Printed Pollen Grain-Inspired Hydrogel Microrobots for On-Demand Anchoring and Cargo Delivery Lee, Y., Kim, J., Bozuyuk, U., Dogan, N. O., Khan, M. T. A., Shiva, A., Wild, A., Sitti, M. Advanced Materials, 35(10):2209812, December 2022 (Published) DOI BibTeX

Empirical Inference Conference Paper Neural Attentive Circuits Weiss*, M., Rahaman*, N., Locatello, F., Pal, C., Bengio, Y., Schölkopf, B., Li, E. L., Ballas, N. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), 35:7741-7754, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems, December 2022, *equal contribution (Published) arXiv URL BibTeX

Empirical Inference Conference Paper Optimal Binary Classification Beyond Accuracy Singh, S., Khim, J. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), :18226-18240, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems (NeurIPS 2022), December 2022 (Published) arXiv URL BibTeX

Dynamic Locomotion Article Physically Modelling Fluid- and Soft-tissue Mechanics of Lumbosacral Intraspinal Mechanosensing in Avians Mo, A., Kamska, V., Bribiesca-Contreras, F., Hauptmann, J., Daley, M., Badri-Spröwitz, A. arxiv, December 2022, Submitted (Submitted) URL BibTeX

Empirical Inference Conference Paper Posterior Refinement Improves Sample Efficiency in Bayesian Neural Networks Kristiadi, A., Eschenhagen, R., Hennig, P. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), :30333-30346, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems, December 2022 (Published) arXiv URL BibTeX

Empirical Inference Conference Paper Posterior and Computational Uncertainty in Gaussian Processes Wenger, J., Pleiss, G., Pförtner, M., Hennig, P., Cunningham, J. P. Advances in Neural Information Processing Systems 35 , :10876-10890, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems (NeurIPS 2022), December 2022 (Published) arXiv URL BibTeX

Empirical Inference Conference Paper Probable Domain Generalization via Quantile Risk Minimization Eastwood, C., Robey, A., Singh, S., von Kügelgen, J., Hassani, H., Pappas, G. J., Schölkopf, B. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), 35:17340-17358, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems, December 2022 (Published) arXiv URL BibTeX

Empirical Inference Proceedings Proceedings of the Second Workshop on NLP for Positive Impact (NLP4PI) Biester, L., Demszky, D., Jin, Z., Sachan, M., Tetreault, J., Wilson, S., Xiao, L., Zhao, J. Association for Computational Linguistics, December 2022 (Published) URL BibTeX

Physical Intelligence Article Programmable aniso-electrodeposited modular hydrogel microrobots Zheng, Z., Wang, H., Demir, S. O., Huang, Q., Fukuda, T., Sitti, M. Science Advances, 8(50):eade6135, December 2022 (Published) DOI BibTeX

Empirical Inference Autonomous Learning Conference Paper Real Robot Challenge 2022: Learning Dexterous Manipulation from Offline Data in the Real World Gürtler, N., Widmaier, F., Sancaktar, C., Blaes, S., Kolev, P., Bauer, S., Wüthrich, M., Wulfmeier, M., Riedmiller, M., Allshire, A., et al. Proceedings of the NeurIPS 2022 Competitions Track, 220:133-150, Proceedings of Machine Learning Research, (Editors: Ciccone, Marco and Stolovitzky, Gustavo and Albrecht, Jacob), PMLR, December 2022 (Published) URL BibTeX

Perceiving Systems Ph.D. Thesis Reconstructing Expressive 3D Humans from RGB Images Choutas, V. ETH Zurich, Max Planck Institute for Intelligent Systems and ETH Zurich, December 2022 (Published) pdf DOI BibTeX

Empirical Inference Conference Paper Relational Proxies: Emergent Relationships as Fine-Grained Discriminators Chaudhuri, A., Mancini, M., Akata, Z., Dutta, A. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), :31145-31157, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems (NeurIPS 2022), December 2022 (Published) 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 Conference Paper Signal Propagation in Transformers: Theoretical Perspectives and the Role of Rank Collapse Noci*, L., Sotiris*, A., Biggio*, L., Orvieto*, A., Singh*, S. P., Lucchi, A. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), 35:27198-27211, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems, December 2022, *equal contribution (Published) arXiv URL BibTeX

Empirical Inference Conference Paper Truncated Proposals for scalable and hassle-free simulation-based inference Deistler, M., Gonçalves*, P. J., Macke*, J. H. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), 35:23135-23149, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems, December 2022, *equal contribution (Published) arXiv URL BibTeX

Empirical Inference Conference Paper When to Make Exceptions: Exploring Language Models as Accounts of Human Moral Judgment Jin*, Z., Levine*, S., Gonzalez*, F., Kamal, O., Sap, M., Sachan, M., Mihalcea, R., Tenenbaum, J., Schölkopf, B. Advances in Neural Information Processing Systems 35 (NeurIPS 2022), :28458-28473, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Annual Conference on Neural Information Processing Systems (NeurIPS 2022), December 2022, *equal contribution (Published) arXiv URL BibTeX

Dynamic Locomotion Ph.D. Thesis Mechanical Design, Development and Testing of Bioinspired Legged Robots for Dynamic Locomotion Sarvestani, L. A. Eberhard Karls Universität Tübingen, Tübingen , November 2022 () DOI BibTeX

Robotic Materials Patent Hydraulically Amplified Self-healing Electrostatic Transducers Harnessing Zipping Mechanism Keplinger, C. M., Acome, E. L., Kellaris, N. A., Mitchell, S. K., Morrissey, T. G. (US Patent 11486421B2), November 2022 () URL BibTeX

Empirical Inference Conference Paper Cross-Modal Fusion Distillation for Fine-Grained Sketch-Based Image Retrieval Chaudhuri, A., Mancini, M., Chen, Y., Akata, Z., Dutta, A. 33rd British Machine Vision Conference (BMVC), BMVA Press, November 2022 (Published) PDF BibTeX

Social Foundations of Computation Algorithms and Society Conference Paper Anticipating Performativity by Predicting from Predictions Mendler-Dünner, C., Ding, F., Wang, Y. In Advances in Neural Information Processing Systems 35 (NeurIPS 2022), Curran Associates, Inc., The Thirty-Six Annual Conference on Neural Information Processing Systems (NeurIPS), November 2022 (Published) ArXiv URL BibTeX

Empirical Inference Article Automated imaging-based abdominal organ segmentation and quality control in 20,000 participants of the UK Biobank and German National Cohort Studies Kart, T., Fischer, M., Winzeck, S., Glocker, B., Bai, W., Bülow, R., Emmel, C., Friedrich, L., Kauczor, H. U. K. T., Kröncke, T., et al. Scientific Reports, 12(1):article no. 18733, November 2022 (Published) DOI BibTeX

Empirical Inference Conference Paper Distilling Knowledge from Self-Supervised Teacher by Embedding Graph Alignment Ma, Y., Chen, Y., Akata, Z. The 33rd British Machine Vision Conference Proceedings , BMVA Press, The 33rd British Machine Vision Conference (BMVC 2022) , November 2022 (Published) URL BibTeX

Empirical Inference Article Estimation of skeletal kinematics in freely moving rodents Monsees, A., Voit, K., Wallace, D. J., Sawinski, J., Charyasz, E., Scheffler, K., Macke, J. H., Kerr, J. N. D. Nature Methods, 19(11):1500-1509, November 2022 (Published) DOI BibTeX

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