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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Advances in Probabilistic Methods for Deep Learning

Immer, A.

ETH Zurich, Switzerland, September 2024, CLS PhD Program (phdthesis)

[BibTex]

[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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Koopman Spectral Analysis Uncovers the Temporal Structure of Spontaneous Neural Events

Shao, K., Xu, Y., Logothetis, N., Shen, Z., Besserve, M.

Computational and Systems Neuroscience Meeting (COSYNE), March 2024 (poster)

link (url) [BibTex]

link (url) [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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Nonpar MANOVA via Independence Testing

Panda, S., Shen, C., Perry, R., Zorn, J., Lutz, A., Priebe, C. E., Vogelstein, J. T.

2021 (misc)

arXiv [BibTex]

arXiv [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]


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Manifold forests: closing the gap on neural networks

Perry, R., Tomita, T. M., Mehta, R., Arroyo, J., Patsolic, J., Falk, B., Vogelstein, J. T.

2021 (misc)

arXiv [BibTex]

arXiv [BibTex]


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Random Forests for Adaptive Nearest Neighbor Estimation of Information-Theoretic Quantities

Perry, R., Mehta, R., Guo, R., Yezerets, E., Arroyo, J., Powell, M., Helm, H., Shen, C., Vogelstein, J. T.

2021 (misc)

arXiv [BibTex]

arXiv [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]