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2001


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Spontaneous L12 order at Ni90Al10(110) surfaces: An X-ray and first-principles-calculation study

Drautz, R., Reichert, H., Fähnle, M., Dosch, H., Sanchez, J. M.

{Physical Review Letters}, 87(23), 2001 (article)

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[BibTex]

2001


[BibTex]


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Magnetic viscosity and demagnetization behaviour in isotropic nanocrystalline Pr12Fe82B6 ribbons

Zhang, H. W., Zhang, S. Y., Shen, B. G., Goll, D., Kronmüller, H.

{Chinese Physics}, 10(12):1169-1171, 2001 (article)

mms

[BibTex]

[BibTex]


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Materials analysis with monolayer depth resolution using MeV ion beams

Carstanjen, H. D.

In 117, Las Vegas, USA, 2001 (inproceedings)

mms

[BibTex]

[BibTex]


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Strain relaxation and internal friction in the range of the glass transition

Ege, M., Ulfert, W., Kronmüller, H.

{Zeitschrift f\"ur Metallkunde}, 92(7):690-694, 2001 (article)

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[BibTex]

[BibTex]


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Hardness-depth profiling on nanometer scale

Kunert, M., Baretzky, B., Baker, S. P., Mittemeijer, E. J.

{Metallurgical and Materials Transactions A-Physical Metallurgy and Materials Science}, 32(5):1201-1209, 2001 (article)

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[BibTex]

[BibTex]


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Compound formation and abrasion resistance of ion-implanted Ti6Al4V

Schmidt, H., Schminke, A., Schmiedgen, M., Baretzky, B.

{Acta Materialia}, 49(3):487-495, 2001 (article)

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[BibTex]

[BibTex]


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Influence of vortex-vortex interaction on critical currents across low-angle grain boundaries in YBa2Cu3O7-δthin films

Albrecht, J., Leonhardt, S., Kronmüller, H.

{Physical Review B}, 63, 2001 (article)

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[BibTex]

[BibTex]


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Structure of superconducting [BaCuOx]2/[CaCuO2]n superlattices on SrTiO3(001) investigated by x-ray scattering

Aruta, C., Zegenhagen, J., Cowie, B., Balestrino, G., Pasquini, G., Medaglia, P. G., Ricci, F., Luebbert, D., Baumbach, T., Riedo, E., Ortega, L., Kremer, R., Albrecht, J.

{Physica Status Solidi (A)}, 183, pages: 353-364, 2001 (article)

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[BibTex]

[BibTex]


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Flux-line pinning in low-angle grain boundaries.

Albrecht, J., Leonhardt, S., Kronmüller, H.

In Proceedings 10th International Workshop on Critical Currents (IWCC 2001), pages: 41-43, Göttingen, Germany, 2001 (inproceedings)

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[BibTex]

[BibTex]


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Transmission X-ray microscopy using X-MCD

Eimüller, T., Fischer, P., Köhler, M., Scholz, M., Guttmann, P., Denbeaux, G., Glück, S., Bayreuther, G., Schmahl, G., Attwood, D., Schütz, G.

{Applied Physics A}, 73, pages: 697-701, 2001 (article)

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[BibTex]

[BibTex]


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Soft X-ray microscopy to 25 nm with applications to biology and magnetic materials

Denbeaux, G., Anderson, E., Chao, W., Eimüller, T., Johnson, L., Köhler, M., Larabell, C., Legros, M., Fischer, P., Pearson, A., Schütz, G., Yager, D., Attwood, D.

{Nuclear Instruments and Methods in Physics Research A}, 467-468, pages: 841-844, 2001 (article)

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[BibTex]

[BibTex]


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Study of in-plane magnetic domains with magnetic transmission X-ray microscopy

Fischer, P., Eimüller, T., Schütz, G., Köhler, M., Bayreuther, G., Denbeaux, G., Attwood, D.

{Journal of Applied Physics}, 89, pages: 7159-7161, 2001 (article)

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[BibTex]

[BibTex]


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Influence of vortex-vortex interaction on critical currents across low-angle grain boundaries in YBa2Cu3O7-δthin films

Albrecht, J., Leonhardt, S., Kronmüller, H.

{Physical Review B}, 63, 2001 (article)

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[BibTex]

[BibTex]


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Non-symmetric influences in the total electron yield X-ray magnetic circular dichroism signal in applied magnetic fields

Goering, E., Gold, S., Bayer, A., Schütz, G.

{Journal of Synchrotron Radiation}, 8, pages: 434-436, 2001 (article)

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DOI [BibTex]

DOI [BibTex]


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Effect of Ga substitution on the magnetocrystalline anisotropy of arc-melted Sm2Co17-xGax (x\textequals5,6) compounds

Liang, B., Kleinschroth, I., Kronmüller, H.

{Journal of Applied Physics}, 89(1):488-491, 2001 (article)

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[BibTex]

[BibTex]


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Learning inverse kinematics

D’Souza, A., Vijayakumar, S., Schaal, S.

In IEEE International Conference on Intelligent Robots and Systems (IROS 2001), Piscataway, NJ: IEEE, Maui, Hawaii, Oct.29-Nov.3, 2001, clmc (inproceedings)

Abstract
Real-time control of the endeffector of a humanoid robot in external coordinates requires computationally efficient solutions of the inverse kinematics problem. In this context, this paper investigates learning of inverse kinematics for resolved motion rate control (RMRC) employing an optimization criterion to resolve kinematic redundancies. Our learning approach is based on the key observations that learning an inverse of a non uniquely invertible function can be accomplished by augmenting the input representation to the inverse model and by using a spatially localized learning approach. We apply this strategy to inverse kinematics learning and demonstrate how a recently developed statistical learning algorithm, Locally Weighted Projection Regression, allows efficient learning of inverse kinematic mappings in an incremental fashion even when input spaces become rather high dimensional. The resulting performance of the inverse kinematics is comparable to Liegeois ([1]) analytical pseudo inverse with optimization. Our results are illustrated with a 30 degree-of-freedom humanoid robot.

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link (url) [BibTex]

link (url) [BibTex]


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Biomimetic smooth pursuit based on fast learning of the target dynamics

Shibata, T., Schaal, S.

In IEEE International Conference on Intelligent Robots and Systems (IROS 2001), 2001, clmc (inproceedings)

Abstract
Following a moving target with a narrow-view foveal vision system is one of the essential oculomotor behaviors of humans and humanoids. This oculomotor behavior, called ``Smooth Pursuit'', requires accurate tracking control which cannot be achieved by a simple visual negative feedback controller due to the significant delays in visual information processing. In this paper, we present a biologically inspired and control theoretically sound smooth pursuit controller consisting of two cascaded subsystems. One is an inverse model controller for the oculomotor system, and the other is a learning controller for the dynamics of the visual target. The latter controller learns how to predict the target's motion in head coordinates such that tracking performance can be improved. We investigate our smooth pursuit system in simulations and experiments on a humanoid robot. By using a fast on-line statistical learning network, our humanoid oculomotor system is able to acquire high performance smooth pursuit after about 5 seconds of learning despite significant processing delays in the syste

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link (url) [BibTex]

link (url) [BibTex]


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Biomimetic oculomotor control

Shibata, T., Vijayakumar, S., Conradt, J., Schaal, S.

Adaptive Behavior, 9(3/4):189-207, 2001, clmc (article)

Abstract
Oculomotor control in a humanoid robot faces similar problems as biological oculomotor systems, i.e., capturing targets accurately on a very narrow fovea, dealing with large delays in the control system, the stabilization of gaze in face of unknown perturbations of the body, selective attention, and the complexity of stereo vision. In this paper, we suggest control circuits to realize three of the most basic oculomotor behaviors and their integration - the vestibulo-ocular and optokinetic reflex (VOR-OKR) for gaze stabilization, smooth pursuit for tracking moving objects, and saccades for overt visual attention. Each of these behaviors and the mechanism for their integration was derived with inspiration from computational theories as well as behavioral and physiological data in neuroscience. Our implementations on a humanoid robot demonstrate good performance of the oculomotor behaviors, which proves to be a viable strategy to explore novel control mechanisms for humanoid robotics. Conversely, insights gained from our models have been able to directly influence views and provide new directions for computational neuroscience research.

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link (url) [BibTex]

link (url) [BibTex]


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Development of a scaled teleoperation system for nano scale interaction and manipulation

Sitti, M., Aruk, B., Shintani, H., Hashimoto, H.

In Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on, 1, pages: 860-867, 2001 (inproceedings)

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[BibTex]

[BibTex]


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Irradiation-induced electron tunnelling and small-polaron hopping in single-crystalline YIG

Walz, F., Brabers, J. H. V. J., Torres, L., Kronmüller, H.

{Physica Status Solidi B-Basic Research}, 228(3):717-730, 2001 (article)

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[BibTex]

[BibTex]


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Hexagonally ordered 100 nm period nickel nanowire arrays

Nielsch, K., Wehrspohn, R. B., Barthel, J., Kirschner, J., Gösele, U., Fischer, S. F., Kronmüller, H.

{Applied Physics Letters}, 79(9):1360-1362, 2001 (article)

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[BibTex]

[BibTex]


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Magnetization processes in isotropic and textured Nd2Fe14B- films

Melsheimer, A., Kronmüller, H.

{Physica B}, 299(3-4):251-259, 2001 (article)

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[BibTex]

[BibTex]


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Critical magnetic properties of disordered Cr-rich FeCr alloys

Fischer, S. F., Kaul, S. N., Kronmüller, H.

{Journal of Magnetism and Magnetic Materials}, 226(Sp. Iss. SI):540-541, 2001 (article)

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[BibTex]

[BibTex]


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Fast ab initio methods for the calculation of adiabatic spin wave spectra in complex systems

Grotheer, O., Ederer, C., Fähnle, M.

{Physical Review B}, 63(10):100401-100401, 2001 (article)

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[BibTex]

[BibTex]


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Hydrogen storage in sonicated carbon materials

Hirscher, M., Becher, M., Haluska, M., Dettlaff-Weglikowska, U., Quintel, A., Duesberg, G. S., Choi, Y. M., Downes, P., Hulman, M., Roth, S., Stepanek, I., Bernier, P.

{Applied Physics A-Materials Science \& Processing}, 72(2):129-132, 2001 (article)

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[BibTex]

[BibTex]


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Measurement of the low-temperature self-diffusivity of lithium by elastic recoil detection analysis

Wieland, O., Carstanjen, H. D.

In Proceedings of DIMAT 2000, the Fifth International Conference on Diffusion in Materials, 194/199, pages: 35-41, Defect and Diffusion Forum, Scitec Publications Ltd., Paris, France, 2001 (inproceedings)

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[BibTex]

[BibTex]


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Co(NH3)2Cl2 and Co(ND3)2Cl2: Order-Disorder Behaviour of N(H,D)3 and Antiferromagnetic Structure

Leineweber, A., Jacobs, H., E\ssmann, P., Allenspach, F., Fauth, F., Fischer, P.

{Zeitschrift f\"ur Anorganische und Allgemeine Chemie}, 627, pages: 2063-2069, 2001 (article)

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[BibTex]

[BibTex]


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Critical magnetic properties of disordered polycrystalline Fe75Fe25 and Cr70Fe30 alloys

Fischer, S. F., Kaul, S. N., Kronmüller, H.

{Physical Review B}, 65, 2001 (article)

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[BibTex]

[BibTex]


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From the electronic structure to the macroscopic behaviour: a multi-scale analysis of plasticity in intermetallic compounds

Fähnle, M., Kohlhammer, S., Bester, G.

In Influences of Interface and Dislocation Behavior on Microstructure Evolution, 652, pages: Y.4.5.1-Y.4.5.12, Materials Research Society Symposium Proceedings, MRS, Boston, Mass., 2001 (inproceedings)

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[BibTex]

[BibTex]


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Enhancement of the critical current density of YBa2Cu3O7-8-films by substracte irradiation

Leonhardt, S., Albrecht, J., Warthmann, R., Kronmüller, H.

In High-Tc Superconductors and Related Applications: Materials Science, Fundamental Properties, and Some Future Electronic Applications. Proceedings of the NATO Advanced Study Institute, 86, pages: 529-534, NATO Science Series 3. High Technology, Kluwer Academic Publishers, Albena, Bulgaria, 2001 (inproceedings)

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[BibTex]

[BibTex]


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Diffusion of 23Na and 35K in the eutectic melt Na0.32K0.69

Feinauer, A., Majer, G.

{Physical Review B}, 64, 2001 (article)

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[BibTex]

[BibTex]


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AMOC studies of positronium in fine MgO powder

van Waeyenberge, B., Dauwe, C., Stoll, H.

In Positron Annihilation. Proceedings of the 12th International Conference on Positron Annihilation, 363/365, pages: 401-403, Materials Science Forum, Trans Tech Publications Ltd., München, 2001 (inproceedings)

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[BibTex]

[BibTex]


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Influence of nanocrystallization on the evolution of domain patterns and the magnetoimpedance effect in amorphous Fe73.5Cu1Nb3Si13.5B9 ribbons

Guo, H. Q., Kronmüller, H., Dragon, T., Cheng, Z. H., Shen, B. G.

{Journal of Applied Physics}, 89(1):514-520, 2001 (article)

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[BibTex]

[BibTex]


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Ab-initio statistical mechanics for the phase diagram of NiAl including the effect of vacancies

Lechermann, F., Fähnle, M.

{Physica Status Solidi (B)}, 224, pages: R4-R6, 2001 (article)

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[BibTex]

[BibTex]


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Atomic defects and electronic structure of B2-FeAl, CoAl and NiAl

Fähnle, M., Meyer, B., Bester, G., Majer, J., Börnsen, N.

In Proceedings of DIMAT 2000, the Fifth International Conference on Diffusion in Materials, 194/199, pages: 279-285, Defect and Diffusion Forum, Scitec Publications Ltd., Paris, France, 2001 (inproceedings)

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[BibTex]

[BibTex]

1993


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Roles for memory-based learning in robotics

Atkeson, C. G., Schaal, S.

In Proceedings of the Sixth International Symposium on Robotics Research, pages: 503-521, Hidden Valley, PA, 1993, clmc (inproceedings)

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[BibTex]

1993


[BibTex]


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Design concurrent calculation: A CAD- and data-integrated approach

Schaal, S., Ehrlenspiel, K.

Journal of Engineering Design, 4, pages: 71-85, 1993, clmc (article)

Abstract
Besides functional regards, product design demands increasingly more for further reaching considerations. Quality alone cannot suffice anymore to compete in the market; design for manufacturability, for assembly, for recycling, etc., are well-known keywords. Those can largely be reduced to the necessity of design for costs. This paper focuses on a CAD-based approach to design concurrent calculation. It will discuss how, in the meantime well-established, tools like feature technology, knowledge-based systems, and relational databases can be blended into one coherent concept to achieve an entirely CAD- and data-integrated cost information tool. This system is able to extract data from the CAD-system, combine it with data about the company specific manufacturing environment, and subsequently autonomously evaluate manufacturability aspects and costs of the given CAD-model. Within minutes the designer gets quantitative in-formation about the major cost sources of his/her design. Additionally, some alternative methods for approximating manu-facturing times from empirical data, namely neural networks and local weighted regression, are introduced.

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[BibTex]

[BibTex]


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Open loop stable control strategies for robot juggling

Schaal, S., Atkeson, C. G.

In IEEE International Conference on Robotics and Automation, 3, pages: 913-918, Piscataway, NJ: IEEE, Georgia, Atlanta, May 2-6, 1993, clmc (inproceedings)

Abstract
In a series of case studies out of the field of dynamic manipulation (Mason, 1992), different principles for open loop stable control are introduced and analyzed. This investigation may provide some insight into how open loop control can serve as a useful foundation for closed loop control and, particularly, what to focus on in learning control. 

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link (url) [BibTex]

link (url) [BibTex]


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In vivo diabetic wound healing with nanofibrous scaffolds modified with gentamicin and recombinant human epidermal growth factor

Dwivedi, C., Pandey, I., Pandey, H., Patil, S., Mishra, S. B., Pandey, A. C., Zamboni, P., Ramteke, P. W., Singh, A. V.

Journal of Biomedical Materials Research Part A, 106(3):641-651, March (article)

Abstract
Abstract Diabetic wounds are susceptible to microbial infection. The treatment of these wounds requires a higher payload of growth factors. With this in mind, the strategy for this study was to utilize a novel payload comprising of Eudragit RL/RS 100 nanofibers carrying the bacterial inhibitor gentamicin sulfate (GS) in concert with recombinant human epidermal growth factor (rhEGF); an accelerator of wound healing. GS containing Eudragit was electrospun to yield nanofiber scaffolds, which were further modified by covalent immobilization of rhEGF to their surface. This novel fabricated nanoscaffold was characterized using scanning electron microscopy, Fourier transform infrared spectroscopy, and X‐ray diffraction. The thermal behavior of the nanoscaffold was determined using thermogravimetric analysis and differential scanning calorimetry. In the in vitro antibacterial assays, the nanoscaffolds exhibited comparable antibacterial activity to pure gentemicin powder. In vivo work using female C57/BL6 mice, the nanoscaffolds induced faster wound healing activity in dorsal wounds compared to the control. The paradigm in this study presents a robust in vivo model to enhance the applicability of drug delivery systems in wound healing applications. © 2017 Wiley Periodicals, Inc. J Biomed Mater Res Part A: 106A: 641–651, 2018.

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link (url) DOI [BibTex]


link (url) DOI [BibTex]


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Classified Regression for Bayesian Optimization: Robot Learning with Unknown Penalties

Marco, A., Baumann, D., Hennig, P., Trimpe, S.

Submitted to Journal (under review) (article)

Abstract
Learning robot controllers by minimizing a black-box objective cost using Bayesian optimization (BO) can be time-consuming and challenging. It is very often the case that some roll-outs result in failure behaviors, causing premature experiment detention. In such cases, the designer is forced to decide on heuristic cost penalties because the acquired data is often scarce, or not comparable with that of the stable policies. To overcome this, we propose a Bayesian model that captures exactly what we know about the cost of unstable controllers prior to data collection: Nothing, except that it should be a somewhat large number. The resulting Bayesian model, approximated with a Gaussian process, predicts high cost values in regions where failures are likely to occur. In this way, the model guides the BO exploration toward regions of stability. We demonstrate the benefits of the proposed model in several illustrative and statistical synthetic benchmarks, and also in experiments on a real robotic platform. In addition, we propose and experimentally validate a new BO method to account for unknown constraints. Such method is an extension of Max-Value Entropy Search, a recent information-theoretic method, to solve unconstrained global optimization problems.

PDF link (url) [BibTex]


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test
(article)

[BibTex]

[BibTex]


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Geometric Image Synthesis

Alhaija, H. A., Mustikovela, S. K., Geiger, A., Rother, C.

(conference)

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Project Page [BibTex]

Project Page [BibTex]


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textes
(article)

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[BibTex]

[BibTex]


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Robotics Research

Tong, Chi Hay, Furgale, Paul, Barfoot, Timothy D, Guizilini, Vitor, Ramos, Fabio, Chen, Yushan, T\uumová, Jana, Ulusoy, Alphan, Belta, Calin, Tenorth, Moritz, others

(article)

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[BibTex]

[BibTex]