Empirical Inference


2024


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Demonstration: Minsight - A Soft Vision-Based Tactile Sensor for Robotic Fingertips

Andrussow, I., Sun, H., Martius, G., Kuchenbecker, K. J.

Hands-on demonstration presented at the Conference on Robot Learning (CoRL), Munich, Germany, November 2024 (misc) Accepted

Abstract
Beyond vision and hearing, tactile sensing enhances a robot's ability to dexterously manipulate unfamiliar objects and safely interact with humans. Giving touch sensitivity to robots requires compact, robust, affordable, and efficient hardware designs, especially for high-resolution tactile sensing. We present a soft vision-based tactile sensor engineered to meet these requirements. Comparable in size to a human fingertip, Minsight uses machine learning to output high-resolution directional contact force distributions at 60 Hz. Minsight's tactile force maps enable precise sensing of fingertip contacts, which we use in this hands-on demonstration to allow a 3-DoF robot arm to physically track contact with a user's finger. While observing the colorful image captured by Minsight's internal camera, attendees can experience how its ability to detect delicate touches in all directions facilitates real-time robot interaction.

Project Page [BibTex]

2024

Project Page [BibTex]


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A Measure-Theoretic Axiomatisation of Causality and Kernel Regression

Park, J.

University of Tübingen, Germany, July 2024 (phdthesis)

[BibTex]

[BibTex]


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Advancing Normalising Flows to Model Boltzmann Distributions

Stimper, V.

University of Cambridge, UK, Cambridge, June 2024, (Cambridge-Tübingen-Fellowship-Program) (phdthesis)

[BibTex]

[BibTex]


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Identifiable Causal Representation Learning

von Kügelgen, J.

University of Cambridge, UK, Cambridge, February 2024, (Cambridge-Tübingen-Fellowship) (phdthesis)

[BibTex]

[BibTex]


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Use the 4S (Signal-Safe Speckle Subtraction): Explainable Machine Learning reveals the Giant Exoplanet AF Lep b in High-Contrast Imaging Data from 2011

Bonse, M. J., Gebhard, T. D., Dannert, F. A., Absil, O., Cantalloube, F., Christiaens, V., Cugno, G., Garvin, E. O., Hayoz, J., Kasper, M., Matthews, E., Schölkopf, B., Quanz, S. P.

2024 (misc) Submitted

arXiv [BibTex]

arXiv [BibTex]

2023


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Navigating the Ocean of Biases: Political Bias Attribution in Language Models via Causal Structures

Jenny, D.

ETH Zurich, Switzerland, November 2023, external supervision (thesis)

[BibTex]

2023

[BibTex]


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Learning and Testing Powerful Hypotheses

Kübler, J. M.

University of Tübingen, Germany, July 2023 (phdthesis)

[BibTex]

[BibTex]


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Learning Identifiable Representations: Independent Influences and Multiple Views

Gresele, L.

University of Tübingen, Germany, June 2023 (phdthesis)

[BibTex]


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Learning with and for discrete optimization

Paulus, M.

ETH Zurich, Switzerland, May 2023, CLS PhD Program (phdthesis)

[BibTex]

[BibTex]


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Borges und die Künstliche Intelligenz

Bottou, L., Schölkopf, B.

2023, published in Frankfurter Allgemeine Zeitung, 18 December 2023, Nr. 294 (misc)

PDF [BibTex]

PDF [BibTex]

2022


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Towards learning mechanistic models at the right level of abstraction

Neitz, A.

University of Tübingen, Germany, November 2022 (phdthesis)

[BibTex]

2022

[BibTex]


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Learning Causal Representations for Generalization and Adaptation in Supervised, Imitation, and Reinforcement Learning

Lu, C.

University of Cambridge, UK, Cambridge, October 2022, (Cambridge-Tübingen-Fellowship) (phdthesis)

[BibTex]

[BibTex]


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Learning Time-Continuous Dynamics Models with Gaussian-Process-Based Gradient Matching

Wenk, P.

ETH Zurich, Switzerland, October 2022, CLS PhD Program (phdthesis)

[BibTex]

[BibTex]


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Methods for Minimizing the Spread of Misinformation on the Web

Tabibian, B.

University of Tübingen, Germany, September 2022 (phdthesis)

[BibTex]

[BibTex]


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Learning and Using Causal Knowledge: A Further Step Towards a Higher-Level Intelligence

Huang, B.

Carnegie Mellon University, Pittsburgh, USA, July 2022 (phdthesis)

[BibTex]

[BibTex]


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Learning and Using Causal Knowledge: A Further Step Towards a Higher-Level Intelligence

Huang, B.

Carnegie Mellon University, July 2022, external supervision (phdthesis)

[BibTex]

[BibTex]


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Variational Inference in Dynamical Systems

Ialongo, A.

University of Cambridge, UK, Cambridge, February 2022, (Cambridge-Tübingen-Fellowship) (phdthesis)

[BibTex]

[BibTex]

2021


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Dynamics of Learning and Learning of Dynamics

Mehrjou, A.

ETH Zürich, Zürich, October 2021 (phdthesis)

DOI [BibTex]

2021

DOI [BibTex]


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A Large Scale Brain-Computer Interface for Patients with Neurological Diseases

Hohmann, M.

University of Tübingen, Germany, September 2021 (phdthesis)

[BibTex]

[BibTex]


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Deep Learning Beyond The Training Distribution

Parascandolo, G.

ETH Zürich, Switzerland, Zürich, September 2021, (CLS Fellowship Program) (phdthesis)

DOI [BibTex]

DOI [BibTex]


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Optimization Algorithms for Machine Learning

Raj, A.

University of Tübingen, Germany, June 2021 (phdthesis)

[BibTex]

[BibTex]


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Causal Inference in Vision

Meding, K.

Eberhard Karls Universität Tübingen, Tübingen, June 2021 (phdthesis)

[BibTex]

[BibTex]


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Machine Learning Methods for Modeling Synthesizable Molecules

Bradshaw, J.

University of Cambridge, UK, Cambridge, April 2021, (Cambridge-Tübingen-Fellowship) (phdthesis)

DOI [BibTex]

DOI [BibTex]


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Pulling back information geometry

Arvanitidis, G., González Duque, M., Pouplin, A., Kalatzis, D., Hauberg, S.

2021 (misc)

arXiv [BibTex]

arXiv [BibTex]


A Robot Cluster for Reproducible Research in Dexterous Manipulation
A Robot Cluster for Reproducible Research in Dexterous Manipulation

Wüthrich*, M., Widmaier*, F., Bauer*, S., Funk, N., Urain, J., Peters, J., Watson, J., Chen, C., Srinivasan, K., Zhang, J., Zhang, J., Walter, M. R., Madan, R., Schaff, C., Maeda, T., Yoneda, T., Yarats, D., Allshire, A., Gordon, E. K., Bhattacharjee, T., Srinivasa, S. S., Garg, A., Buchholz, A., Stark, S., Steinbrenner, T., Akpo, J., Joshi, S., Agrawal, V., Schölkopf, B.

2021, *equal contribution (misc)

arXiv [BibTex]

arXiv [BibTex]


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Reinforcement Learning Algorithms: Analysis and Applications

Belousov, B., H., A., Klink, P., Parisi, S., Peters, J.

883, Studies in Computational Intelligence, Springer International Publishing, 2021 (book)

DOI [BibTex]

DOI [BibTex]


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On the Impact of Stable Ranks in Deep Nets

Georgiev, B., Franken, L., Mukherjee, M., Arvanitidis, G.

2021 (misc)

arXiv [BibTex]

arXiv [BibTex]


Scientific Report 2016 - 2021
Scientific Report 2016 - 2021
2021 (mpi_year_book)

Abstract
This report presents research done at the Max Planck Institute for Intelligent Systems from January2016 to November 2021. It is our fourth report since the founding of the institute in 2011. Dueto the fact that the upcoming evaluation is an extended one, the report covers a longer reportingperiod.This scientific report is organized as follows: we begin with an overview of the institute, includingan outline of its structure, an introduction of our latest research departments, and a presentationof our main collaborative initiatives and activities (Chapter1). The central part of the scientificreport consists of chapters on the research conducted by the institute’s departments (Chapters2to6) and its independent research groups (Chapters7 to24), as well as the work of the institute’scentral scientific facilities (Chapter25). For entities founded after January 2016, the respectivereport sections cover work done from the date of the establishment of the department, group, orfacility. These chapters are followed by a summary of selected outreach activities and scientificevents hosted by the institute (Chapter26). The scientific publications of the featured departmentsand research groups published during the 6-year review period complete this scientific report.

Scientific Report 2016 - 2021 [BibTex]


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Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger

Allshire, A., Mittal, M., Lodaya, V., Makoviychuk, V., Makoviichuk, D., Widmaier, F., Wüthrich, M., Bauer, S., Handa, A., Garg, A.

2021 (misc)

arXiv [BibTex]

arXiv [BibTex]

2020


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Causal Feature Selection in Neuroscience

Mastakouri, A.

University of Tübingen, Germany, December 2020 (phdthesis)

link (url) [BibTex]

2020

link (url) [BibTex]


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Enforcing and Discovering Structure in Machine Learning

Locatello, F.

ETH Zurich, Switzerland, November 2020, (CLS Fellowship Program) (phdthesis)

[BibTex]

[BibTex]


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On the Geometry of Data Representations

Bécigneul, G.

ETH Zurich, Switzerland, September 2020, (CLS Fellowship Program) (phdthesis)

[BibTex]

[BibTex]


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Beyond traditional assumptions in fair machine learning

Kilbertus, N.

University of Cambridge, UK, September 2020, (Cambridge-Tübingen-Fellowship) (phdthesis)

[BibTex]

[BibTex]


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Advances in Latent Variable and Causal Models

Rubenstein, P.

University of Cambridge, UK, July 2020, (Cambridge-Tuebingen-Fellowship) (phdthesis)

[BibTex]

[BibTex]


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Learning from Multi-Frame Data

Wieschollek, P.

University of Tübingen, Germany, July 2020 (phdthesis)

[BibTex]

[BibTex]


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Converting to Optimization in Machine Learning: Perturb-and-MAP, Differential Privacy, and Program Synthesis

Balog, M.

University of Cambridge, UK, July 2020, (Cambridge-Tübingen-Fellowship) (phdthesis)

[BibTex]

[BibTex]


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Learning Neural Causal Models from Unknown Interventions

Ke, R., Bilaniuk, O., Goyal, A., Bauer, S., Larochelle, H., Schölkopf, B., Mozer, M. C., Pal, C., Bengio, Y.

2020 (misc)

arXiv Project Page [BibTex]

arXiv Project Page [BibTex]

2019


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Robot Learning for Muscular Systems

Büchler, D.

Technical University Darmstadt, Germany, December 2019 (phdthesis)

link (url) [BibTex]

2019

link (url) [BibTex]