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2019


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Fast Feedback Control over Multi-hop Wireless Networks with Mode Changes and Stability Guarantees

Baumann, D., Mager, F., Jacob, R., Thiele, L., Zimmerling, M., Trimpe, S.

ACM Transactions on Cyber-Physical Systems, 2019 (article) Accepted

ics

arXiv PDF [BibTex]

2019


arXiv PDF [BibTex]


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Structural and magnetic properties of FePt-Tb alloy thin films

Schmidt, N. Y., Laureti, S., Radu, F., Ryll, H., Luo, C., d\textquotesingleAcapito, F., Tripathi, S., Goering, E., Weller, D., Albrecht, M.

{Physical Review B}, 100(6), American Physical Society, Woodbury, NY, 2019 (article)

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DOI [BibTex]

DOI [BibTex]


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Microfluidics Integrated Lithography‐Free Nanophotonic Biosensor for the Detection of Small Molecules

Sreekanth, K. V., Sreejith, S., Alapan, Y., Sitti, M., Lim, C. T., Singh, R.

Advanced Optical Materials, 2019 (article)

pi

[BibTex]

[BibTex]


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Mobile microrobots for active therapeutic delivery

Erkoc, P., Yasa, I. C., Ceylan, H., Yasa, O., Alapan, Y., Sitti, M.

Advanced Therapeutics, Wiley Online Library, 2019 (article)

pi

[BibTex]

[BibTex]


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Event-triggered Learning

Solowjow, F., Trimpe, S.

2019 (techreport) Submitted

ics

arXiv PDF [BibTex]


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Automated Generation of Reactive Programs from Human Demonstration for Orchestration of Robot Behaviors

Berenz, V., Bjelic, A., Mainprice, J.

ArXiv, 2019 (article)

Abstract
Social robots or collaborative robots that have to interact with people in a reactive way are difficult to program. This difficulty stems from the different skills required by the programmer: to provide an engaging user experience the behavior must include a sense of aesthetics while robustly operating in a continuously changing environment. The Playful framework allows composing such dynamic behaviors using a basic set of action and perception primitives. Within this framework, a behavior is encoded as a list of declarative statements corresponding to high-level sensory-motor couplings. To facilitate non-expert users to program such behaviors, we propose a Learning from Demonstration (LfD) technique that maps motion capture of humans directly to a Playful script. The approach proceeds by identifying the sensory-motor couplings that are active at each step using the Viterbi path in a Hidden Markov Model (HMM). Given these activation patterns, binary classifiers called evaluations are trained to associate activations to sensory data. Modularity is increased by clustering the sensory-motor couplings, leading to a hierarchical tree structure. The novelty of the proposed approach is that the learned behavior is encoded not in terms of trajectories in a task space, but as couplings between sensory information and high-level motor actions. This provides advantages in terms of behavioral generalization and reactivity displayed by the robot.

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Support Video link (url) [BibTex]


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Cognitive Prostheses for Goal Achievement

Lieder, F., Chen, O. X., Krueger, P. M., Griffiths, T.

Nature Human Behavior, 2019 (article)

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DOI [BibTex]

DOI [BibTex]


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Interpreting first-order reversal curves beyond the Preisach model: An experimental permalloy microarray investigation

Groß, F., Ilse, S. E., Schütz, G., Gräfe, J., Goering, E.

{Physical Review B}, 99(6), American Physical Society, Woodbury, NY, 2019 (article)

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DOI [BibTex]


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Effects of system response delays on elderly humans’ cognitive performance in a virtual training scenario

Wirzberger, M., Schmidt, R., Georgi, M., Hardt, W., Brunnett, G., Rey, G. D.

Scientific Reports, 9:8291, 2019 (article)

Abstract
Observed influences of system response delay in spoken human-machine dialogues are rather ambiguous and mainly focus on perceived system quality. Studies that systematically inspect effects on cognitive performance are still lacking, and effects of individual characteristics are also often neglected. Building on benefits of cognitive training for decelerating cognitive decline, this Wizard-of-Oz study addresses both issues by testing 62 elderly participants in a dialogue-based memory training with a virtual agent. Participants acquired the method of loci with fading instructional guidance and applied it afterward to memorizing and recalling lists of German nouns. System response delays were randomly assigned, and training performance was included as potential mediator. Participants’ age, gender, and subscales of affinity for technology (enthusiasm, competence, positive and negative perception of technology) were inspected as potential moderators. The results indicated positive effects on recall performance with higher training performance, female gender, and less negative perception of technology. Additionally, memory retention and facets of affinity for technology moderated increasing system response delays. Participants also provided higher ratings in perceived system quality with higher enthusiasm for technology but reported increasing frustration with a more positive perception of technology. Potential explanations and implications for the design of spoken dialogue systems are discussed.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Bistability of magnetic states in Fe-Pd nanocap arrays

Aravind, P. B., Heigl, M., Fix, M., Groß, F., Gräfe, J., Mary, A., Rajgowrav, C. R., Krupiński, M., Marszałek, M., Thomas, S., Anantharaman, M. R., Albrecht, M.

Nanotechnology, 30, pages: 405705, 2019 (article)

Abstract
Magnetic bistability between vortex and single domain states in nanostructures are of great interest from both fundamental and technological perspectives. In soft magnetic nanostructures, the transition from a uniform collinear magnetic state to a vortex state (or vice versa) induced by a magnetic field involves an energy barrier. If the thermal energy is large enough for overcoming this energy barrier, magnetic bistability with a hysteresis-free switching occurs between the two magnetic states. In this work, we tune this energy barrier by tailoring the composition of FePd alloys, which were deposited onto self-assembled particle arrays forming magnetic vortex structures on top of the particles. The bifurcation temperature, where a hysteresis-free transition occurs, was extracted from the temperature dependence of the annihilation and nucleation field which increases almost linearly with Fe content of the magnetic alloy. This study provides insights into the magnetization reversal process associated with magnetic bistability, which allows adjusting the bifurcation temperature range by the material properties of the nanosystem.

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link (url) [BibTex]

link (url) [BibTex]


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Phenomenal Causality and Sensory Realism

Bruijns, S. A., Meding, K., Schölkopf, B., Wichmann, F. A.

European Conference on Visual Perception (ECVP), 2019 (poster)

ei

[BibTex]

[BibTex]


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An international laboratory comparison study of volumetric and gravimetric hydrogen adsorption measurements

Hurst, K. E., Gennett, T., Adams, J., Allendorf, M. D., Balderas-Xicohténcatl, R., Bielewski, M., Edwards, B., Espinal, L., Fultz, B., Hirscher, M., Hudson, M. S. L., Hulvey, Z., Latroche, M., Liu, D., Kapelewski, M., Napolitano, E., Perry, Z. T., Purewal, J., Stavila, V., Veenstra, M., White, J. L., Yuan, Y., Zhou, H., Zlotea, C., Parilla, P.

{ChemPhysChem}, 20(15):1997-2009, Wiley-VCH, Weinheim, Germany, 2019 (article)

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DOI [BibTex]

DOI [BibTex]


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Superior magnetic performance in FePt L10 nanomaterials

Son, K., Ryu, G. H., Jeong, H., Fink, L., Merz, M., Nagel, P., Schuppler, S., Richter, G., Goering, E., Schütz, G.

{Small}, 15(34), Wiley, Weinheim, Germany, 2019 (article)

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DOI [BibTex]

DOI [BibTex]


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Electromechanical actuation of dielectric liquid crystal elastomers for soft robotics

Davidson, Z., Shahsavan, H., Guo, Y., Hines, L., Xia, Y., Yang, S., Sitti, M.

Bulletin of the American Physical Society, APS, 2019 (article)

pi

[BibTex]

[BibTex]


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A rational reinterpretation of dual process theories

Milli, S., Lieder, F., Griffiths, T.

2019 (article)

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DOI [BibTex]

DOI [BibTex]


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Probabilistic Linear Solvers: A Unifying View

Bartels, S., Cockayne, J., Ipsen, I. C. F., Hennig, P.

Statistics and Computing, 2019 (article) Accepted

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link (url) [BibTex]

link (url) [BibTex]


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Systematic experimental study on quantum sieving of hydrogen isotopes in metal-amide-imidazolate frameworks with narrow 1-D channels

Mondal, S. S., Kreuzer, A., Behrens, K., Schütz, G., Holdt, H., Hirscher, M.

{ChemPhysChem}, 20(10):1311-1315, Wiley-VCH, Weinheim, Germany, 2019 (article)

mms

DOI [BibTex]

DOI [BibTex]


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The route to supercurrent transparent ferromagnetic barriers in superconducting matrix

Ivanov, Y. P., Soltan, S., Albrecht, J., Goering, E., Schütz, G., Zhang, Z., Chuvilin, A.

{ACS Nano}, 13(5):5655-5661, American Chemical Society, Washington, DC, 2019 (article)

mms

DOI [BibTex]

DOI [BibTex]


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Artifacts from manganese reduction in rock samples prepared by focused ion beam (FIB) slicing for X-ray microspectroscopy

Macholdt, D. S., Förster, J., Müller, M., Weber, B., Kappl, M., Kilcoyne, A. L. D., Weigand, M., Leitner, J., Jochum, K. P., Pöhlker, C., Andreae, M. O.

{Geoscientific instrumentation, methods and data systems}, 8(1):97-111, Copernicus Publ., Göttingen, 2019 (article)

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DOI [BibTex]

DOI [BibTex]


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Mixed-state magnetotransport properties of MgB2 thin film prepared by pulsed laser deposition on an Al2O3 substrate

Alzayed, N. S., Shahabuddin, M., Ramey, S. M., Soltan, S.

{Journal of Materials Science: Materials in Electronics}, 30(2):1547-1552, Springer, Norwell, MA, 2019 (article)

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DOI [BibTex]

DOI [BibTex]


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Comparison of theories of fast and ultrafast magnetization dynamics

Fähnle, M.

{Journal of Magnetism and Magnetic Materials}, 469, pages: 28-29, NH, Elsevier, Amsterdam, 2019 (article)

mms

DOI [BibTex]

DOI [BibTex]


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Concepts for improving hydrogen storage in nanoporous materials

Broom, D. P., Webb, C. J., Fanourgakis, G. S., Froudakis, G. E., Trikalitis, P. N., Hirscher, M.

{International Journal of Hydrogen Energy}, 44(15):7768-7779, Elsevier, Amsterdam, 2019 (article)

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DOI [BibTex]

DOI [BibTex]


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Controlling dislocation nucleation-mediatd plasticity in nanostructures via surface modification

Shin, J., Chen, L. Y., Sanli, U. T., Richter, G., Labat, S., Richard, M., Cornelius, T., Thomas, O., Gianola, D. S.

{Acta Materialia}, 166, pages: 572-586, Elsevier Science, Kidlington, 2019 (article)

mms

DOI [BibTex]

DOI [BibTex]


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Reprogrammability and scalability of magnonic Fibonacci quasicrystals

Lisiecki, F., Rychly, J., Kuswik, P., Glowinski, H., Klos, J. W., Groß, F., Bykova, I., Weigand, M., Zelent, M., Goering, E. J., Schütz, G., Gubbiotti, G., Krawczyk, M., Stobiecki, F., Dubowik, J., Gräfe, J.

{Physical Review Applied}, 11(5), American Physical Society, College Park, Md. [u.a.], 2019 (article)

mms

DOI [BibTex]

DOI [BibTex]

2009


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Learning an Interactive Segmentation System

Nickisch, H., Kohli, P., Rother, C.

Max Planck Institute for Biological Cybernetics, December 2009 (techreport)

Abstract
Many successful applications of computer vision to image or video manipulation are interactive by nature. However, parameters of such systems are often trained neglecting the user. Traditionally, interactive systems have been treated in the same manner as their fully automatic counterparts. Their performance is evaluated by computing the accuracy of their solutions under some fixed set of user interactions. This paper proposes a new evaluation and learning method which brings the user in the loop. It is based on the use of an active robot user - a simulated model of a human user. We show how this approach can be used to evaluate and learn parameters of state-of-the-art interactive segmentation systems. We also show how simulated user models can be integrated into the popular max-margin method for parameter learning and propose an algorithm to solve the resulting optimisation problem.

ei

Web [BibTex]

2009


Web [BibTex]


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Efficient Subwindow Search: A Branch and Bound Framework for Object Localization

Lampert, C., Blaschko, M., Hofmann, T.

IEEE Transactions on Pattern Analysis and Machine Intelligence, 31(12):2129-2142, December 2009 (article)

Abstract
Most successful object recognition systems rely on binary classification, deciding only if an object is present or not, but not providing information on the actual object location. To estimate the object‘s location, one can take a sliding window approach, but this strongly increases the computational cost because the classifier or similarity function has to be evaluated over a large set of candidate subwindows. In this paper, we propose a simple yet powerful branch and bound scheme that allows efficient maximization of a large class of quality functions over all possible subimages. It converges to a globally optimal solution typically in linear or even sublinear time, in contrast to the quadratic scaling of exhaustive or sliding window search. We show how our method is applicable to different object detection and image retrieval scenarios. The achieved speedup allows the use of classifiers for localization that formerly were considered too slow for this task, such as SVMs with a spatial pyramid kernel or nearest-neighbor classifiers based on the chi^2 distance. We demonstrate state-of-the-art localization performance of the resulting systems on the UIUC Cars data set, the PASCAL VOC 2006 data set, and in the PASCAL VOC 2007 competition.

ei

PDF Web DOI [BibTex]

PDF Web DOI [BibTex]


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Generation of three-dimensional random rotations in fitting and matching problems

Habeck, M.

Computational Statistics, 24(4):719-731, December 2009 (article)

Abstract
An algorithm is developed to generate random rotations in three-dimensional space that follow a probability distribution arising in fitting and matching problems. The rotation matrices are orthogonally transformed into an optimal basis and then parameterized using Euler angles. The conditional distributions of the three Euler angles have a very simple form: the two azimuthal angles can be decoupled by sampling their sum and difference from a von Mises distribution; the cosine of the polar angle is exponentially distributed and thus straighforward to generate. Simulation results are shown and demonstrate the effectiveness of the method. The algorithm is compared to other methods for generating random rotations such as a random walk Metropolis scheme and a Gibbs sampling algorithm recently introduced by Green and Mardia. Finally, the algorithm is applied to a probabilistic version of the Procrustes problem of fitting two point sets and applied in the context of protein structure superposition.

ei

PDF DOI [BibTex]

PDF DOI [BibTex]


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Adaptive Importance Sampling for Value Function Approximation in Off-policy Reinforcement Learning

Hachiya, H., Akiyama, T., Sugiyama, M., Peters, J.

Neural Networks, 22(10):1399-1410, December 2009 (article)

Abstract
Off-policy reinforcement learning is aimed at efficiently using data samples gathered from a policy that is different from the currently optimized policy. A common approach is to use importance sampling techniques for compensating for the bias of value function estimators caused by the difference between the data-sampling policy and the target policy. However, existing off-policy methods often do not take the variance of the value function estimators explicitly into account and therefore their performance tends to be unstable. To cope with this problem, we propose using an adaptive importance sampling technique which allows us to actively control the trade-off between bias and variance. We further provide a method for optimally determining the trade-off parameter based on a variant of cross-validation. We demonstrate the usefulness of the proposed approach through simulations.

ei

PDF Web DOI [BibTex]

PDF Web DOI [BibTex]


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Guest editorial: special issue on structured prediction

Parker, C., Altun, Y., Tadepalli, P.

Machine Learning, 77(2-3):161-164, December 2009 (article)

ei

PDF DOI [BibTex]

PDF DOI [BibTex]


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Structured prediction by joint kernel support estimation

Lampert, CH., Blaschko, MB.

Machine Learning, 77(2-3):249-269, December 2009 (article)

ei

PDF DOI [BibTex]

PDF DOI [BibTex]


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A note on ethical aspects of BCI

Haselager, P., Vlek, R., Hill, J., Nijboer, F.

Neural Networks, 22(9):1352-1357, November 2009 (article)

Abstract
This paper focuses on ethical aspects of BCI, as a research and a clinical tool, that are challenging for practitioners currently working in the field. Specifically, the difficulties involved in acquiring informed consent from locked-in patients are investigated, in combination with an analysis of the shared moral responsibility in BCI teams, and the complications encountered in establishing effective communication with media.

ei

Web DOI [BibTex]

Web DOI [BibTex]


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Model Learning with Local Gaussian Process Regression

Nguyen-Tuong, D., Seeger, M., Peters, J.

Advanced Robotics, 23(15):2015-2034, November 2009 (article)

Abstract
Precise models of robot inverse dynamics allow the design of significantly more accurate, energy-efficient and compliant robot control. However, in some cases the accuracy of rigid-body models does not suffice for sound control performance due to unmodeled nonlinearities arising from hydraulic cable dynamics, complex friction or actuator dynamics. In such cases, estimating the inverse dynamics model from measured data poses an interesting alternative. Nonparametric regression methods, such as Gaussian process regression (GPR) or locally weighted projection regression (LWPR), are not as restrictive as parametric models and, thus, offer a more flexible framework for approximating unknown nonlinearities. In this paper, we propose a local approximation to the standard GPR, called local GPR (LGP), for real-time model online learning by combining the strengths of both regression methods, i.e., the high accuracy of GPR and the fast speed of LWPR. The approach is shown to have competitive learning performance for hig h-dimensional data while being sufficiently fast for real-time learning. The effectiveness of LGP is exhibited by a comparison with the state-of-the-art regression techniques, such as GPR, LWPR and ν-support vector regression. The applicability of the proposed LGP method is demonstrated by real-time online learning of the inverse dynamics model for robot model-based control on a Barrett WAM robot arm.

ei

PDF Web DOI [BibTex]

PDF Web DOI [BibTex]


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An Incremental GEM Framework for Multiframe Blind Deconvolution, Super-Resolution, and Saturation Correction

Harmeling, S., Sra, S., Hirsch, M., Schölkopf, B.

(187), Max Planck Institute for Biological Cybernetics, Tübingen, Germany, November 2009 (techreport)

Abstract
We develop an incremental generalized expectation maximization (GEM) framework to model the multiframe blind deconvolution problem. A simplistic version of this problem was recently studied by Harmeling etal~cite{harmeling09}. We solve a more realistic version of this problem which includes the following major features: (i) super-resolution ability emph{despite} noise and unknown blurring; (ii) saturation-correction, i.e., handling of overexposed pixels that can otherwise confound the image processing; and (iii) simultaneous handling of color channels. These features are seamlessly integrated into our incremental GEM framework to yield simple but efficient multiframe blind deconvolution algorithms. We present technical details concerning critical steps of our algorithms, especially to highlight how all operations can be written using matrix-vector multiplications. We apply our algorithm to real-world images from astronomy and super resolution tasks. Our experimental results show that our methods yield improve d resolution and deconvolution at the same time.

ei

PDF [BibTex]

PDF [BibTex]


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Efficient Filter Flow for Space-Variant Multiframe Blind Deconvolution

Hirsch, M., Sra, S., Schölkopf, B., Harmeling, S.

(188), Max Planck Institute for Biological Cybernetics, Tübingen, Germany, November 2009 (techreport)

Abstract
Ultimately being motivated by facilitating space-variant blind deconvolution, we present a class of linear transformations, that are expressive enough for space-variant filters, but at the same time especially designed for efficient matrix-vector-multiplications. Successful results on astronomical imaging through atmospheric turbulences and on noisy magnetic resonance images of constantly moving objects demonstrate the practical significance of our approach.

ei

PDF [BibTex]

PDF [BibTex]


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Inferring textual entailment with a probabilistically sound calculus

Harmeling, S.

Natural Language Engineering, 15(4):459-477, October 2009 (article)

Abstract
We introduce a system for textual entailment that is based on a probabilistic model of entailment. The model is defined using a calculus of transformations on dependency trees, which is characterized by the fact that derivations in that calculus preserve the truth only with a certain probability. The calculus is successfully evaluated on the datasets of the PASCAL Challenge on Recognizing Textual Entailment.

ei

PDF Web DOI [BibTex]

PDF Web DOI [BibTex]


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Modeling and Visualizing Uncertainty in Gene Expression Clusters using Dirichlet Process Mixtures

Rasmussen, CE., de la Cruz, BJ., Ghahramani, Z., Wild, DL.

IEEE/ACM Transactions on Computational Biology and Bioinformatics, 6(4):615-628, October 2009 (article)

Abstract
Although the use of clustering methods has rapidly become one of the standard computational approaches in the literature of microarray gene expression data, little attention has been paid to uncertainty in the results obtained. Dirichlet process mixture models provide a non-parametric Bayesian alternative to the bootstrap approach to modeling uncertainty in gene expression clustering. Most previously published applications of Bayesian model based clustering methods have been to short time series data. In this paper we present a case study of the application of non-parametric Bayesian clustering methods to the clustering of high-dimensional non-time series gene expression data using full Gaussian covariances. We use the probability that two genes belong to the same cluster in a Dirichlet process mixture model as a measure of the similarity of these gene expression profiles. Conversely, this probability can be used to define a dissimilarity measure, which, for the purposes of visualization, can be input to one of the standard linkage algorithms used for hierarchical clustering. Biologically plausible results are obtained from the Rosetta compendium of expression profiles which extend previously published cluster analyses of this data.

ei

PDF Web DOI [BibTex]

PDF Web DOI [BibTex]


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Clinical PET/MRI-System and Its Applications with MRI Based Attenuation Correction

Kolb, A., Hofmann, M., Sossi, V., Wehrl, H., Sauter, A., Schmid, A., Schlemmer, H., Claussen, C., Pichler, B.

IEEE Nuclear Science Symposium and Medical Imaging Conference (NSS/MIC 2009), 2009, pages: 1, October 2009 (poster)

Abstract
Clinical PET/MRI is an emerging new hybrid imaging modality. In addition to provide an unique possibility for multifunctional imaging with temporally and spatially matched data, it also provides anatomical information that can also be used for attenuation correction with no radiation exposure to the subjects. A plus of combined compared to sequential PET and MR imaging is the reduction of total scan time. Here we present our initial experience with a hybrid brain PET/MRI system. Due to the ethical approval patient scans could only be performed after a diagnostic PET/CT. We estimate that in approximately 50% of the cases PET/MRI was of superior diagnostic value compared to PET/CT and was able to provide additional information, such as DTI, spectroscopy and Time Of Flight (TOF) angiography. Here we present 3 patient cases in oncology, a retropharyngeal carcinoma in neurooncology, a relapsing meningioma and in neurology a pharyngeal carcinoma in addition to an infraction of the right hemisphere. For quantitative PET imaging attenuation correction is obligatory. In current PET/MRI setup we used our MRI based atlas method for calculating the mu-map for attenuation correction. MR-based attenuation correction accuracy was quantitatively compared to CT-based PET attenuation correction. Extensive studies to assess potential mutual interferences between PET and MR imaging modalities as well as NEMA measurements have been performed. The first patient studies as well as the phantom tests clearly demonstrated the overall good imaging performance of this first human PET/MRI system. Ongoing work concentrates on advanced normalization and reconstruction methods incorporating count-rate based algorithms.

ei

Web [BibTex]

Web [BibTex]


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Thermodynamic efficiency of information and heat flow

Allahverdyan, A., Janzing, D., Mahler, G.

Journal of Statistical Mechanics: Theory and Experiment, 2009(09):P09011, September 2009 (article)

Abstract
A basic task of information processing is information transfer (flow). P0 Here we study a pair of Brownian particles each coupled to a thermal bath at temperatures T1 and T2 . The information flow in such a system is defined via the time-shifted mutual information. The information flow nullifies at equilibrium, and its efficiency is defined as the ratio of the flow to the total entropy production in the system. For a stationary state the information flows from higher to lower temperatures, and its efficiency is bounded from above by (max[T1 , T2 ])/(|T1 − T2 |). This upper bound is imposed by the second law and it quantifies the thermodynamic cost for information flow in the present class of systems. It can be reached in the adiabatic situation, where the particles have widely different characteristic times. The efficiency of heat flow—defined as the heat flow over the total amount of dissipated heat—is limited from above by the same factor. There is a complementarity between heat and information flow: the set-up which is most efficient for the former is the least efficient for the latter and vice versa. The above bound for the efficiency can be (transiently) overcome in certain non-stationary situations, but the efficiency is still limited from above. We study yet another measure of information processing (transfer entropy) proposed in the literature. Though this measure does not require any thermodynamic cost, the information flow and transfer entropy are shown to be intimately related for stationary states.

ei

PDF DOI [BibTex]

PDF DOI [BibTex]


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Does Cognitive Science Need Kernels?

Jäkel, F., Schölkopf, B., Wichmann, F.

Trends in Cognitive Sciences, 13(9):381-388, September 2009 (article)

Abstract
Kernel methods are among the most successful tools in machine learning and are used in challenging data analysis problems in many disciplines. Here we provide examples where kernel methods have proven to be powerful tools for analyzing behavioral data, especially for identifying features in categorization experiments. We also demonstrate that kernel methods relate to perceptrons and exemplar models of categorization. Hence, we argue that kernel methods have neural and psychological plausibility, and theoretical results concerning their behavior are therefore potentially relevant for human category learning. In particular, we believe kernel methods have the potential to provide explanations ranging from the implementational via the algorithmic to the computational level.

ei

PDF Web DOI [BibTex]

PDF Web DOI [BibTex]


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A flowering-time gene network model for association analysis in Arabidopsis thaliana

Klotzbücher, K., Kobayashi, Y., Shervashidze, N., Borgwardt, K., Weigel, D.

2009(39):95-96, German Conference on Bioinformatics (GCB '09), September 2009 (poster)

Abstract
In our project we want to determine a set of single nucleotide polymorphisms (SNPs), which have a major effect on the flowering time of Arabidopsis thaliana. Instead of performing a genome-wide association study on all SNPs in the genome of Arabidopsis thaliana, we examine the subset of SNPs from the flowering-time gene network model. We are interested in how the results of the association study vary when using only the ascertained subset of SNPs from the flowering network model, and when additionally using the information encoded by the structure of the network model. The network model is compiled from the literature by manual analysis and contains genes which have been found to affect the flowering time of Arabidopsis thaliana [Far+08; KW07]. The genes in this model are annotated with the SNPs that are located in these genes, or in near proximity to them. In a baseline comparison between the subset of SNPs from the graph and the set of all SNPs, we omit the structural information and calculate the correlation between the individual SNPs and the flowering time phenotype by use of statistical methods. Through this we can determine the subset of SNPs with the highest correlation to the flowering time. In order to further refine this subset, we include the additional information provided by the network structure by conducting a graph-based feature pre-selection. In the further course of this project we want to validate and examine the resulting set of SNPs and their corresponding genes with experimental methods.

ei

PDF Web [BibTex]

PDF Web [BibTex]


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Robot Learning

Peters, J., Morimoto, J., Tedrake, R., Roy, N.

IEEE Robotics and Automation Magazine, 16(3):19-20, September 2009 (article)

Abstract
Creating autonomous robots that can learn to act in unpredictable environments has been a long-standing goal of robotics, artificial intelligence, and the cognitive sciences. In contrast, current commercially available industrial and service robots mostly execute fixed tasks and exhibit little adaptability. To bridge this gap, machine learning offers a myriad set of methods, some of which have already been applied with great success to robotics problems. As a result, there is an increasing interest in machine learning and statistics within the robotics community. At the same time, there has been a growth in the learning community in using robots as motivating applications for new algorithms and formalisms. Considerable evidence of this exists in the use of learning in high-profile competitions such as RoboCup and the Defense Advanced Research Projects Agency (DARPA) challenges, and the growing number of research programs funded by governments around the world.

ei

PDF Web DOI [BibTex]

PDF Web DOI [BibTex]


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Kernel Methods in Computer Vision

Lampert, CH.

Foundations and Trends in Computer Graphics and Vision, 4(3):193-285, September 2009 (article)

Abstract
Over the last years, kernel methods have established themselves as powerful tools for computer vision researchers as well as for practitioners. In this tutorial, we give an introduction to kernel methods in computer vision from a geometric perspective, introducing not only the ubiquitous support vector machines, but also less known techniques for regression, dimensionality reduction, outlier detection and clustering. Additionally, we give an outlook on very recent, non-classical techniques for the prediction of structure data, for the estimation of statistical dependency and for learning the kernel function itself. All methods are illustrated with examples of successful application from the recent computer vision research literature.

ei

Web DOI [BibTex]

Web DOI [BibTex]


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Initial Data from a first PET/MRI-System and its Applications in Clinical Studies Using MRI Based Attenuation Correction

Kolb, A., Hofmann, M., Sossi, V., Wehrl, H., Sauter, A., Schmid, A., Judenhofer, M., Schlemmer, H., Claussen, C., Pichler, B.

2009 World Molecular Imaging Congress, 2009, pages: 1200, September 2009 (poster)

ei

Web [BibTex]

Web [BibTex]


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A High-Speed Object Tracker from Off-the-Shelf Components

Lampert, C., Peters, J.

First IEEE Workshop on Computer Vision for Humanoid Robots in Real Environments at ICCV 2009, 1, pages: 1, September 2009 (poster)

Abstract
We introduce RTblob, an open-source real-time vision system for 3D object detection that achieves over 200 Hz tracking speed with only off-the-shelf hardware component. It allows fast and accurate tracking of colored objects in 3D without expensive and often custom-built hardware, instead making use of the PC graphics cards for the necessary image processing operations.

ei

PDF Web [BibTex]

PDF Web [BibTex]


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Fast Kernel-Based Independent Component Analysis

Shen, H., Jegelka, S., Gretton, A.

IEEE Transactions on Signal Processing, 57(9):3498-3511, September 2009 (article)

Abstract
Recent approaches to independent component analysis (ICA) have used kernel independence measures to obtain highly accurate solutions, particularly where classical methods experience difficulty (for instance, sources with near-zero kurtosis). FastKICA (fast HSIC-based kernel ICA) is a new optimization method for one such kernel independence measure, the Hilbert-Schmidt Independence Criterion (HSIC). The high computational efficiency of this approach is achieved by combining geometric optimization techniques, specifically an approximate Newton-like method on the orthogonal group, with accurate estimates of the gradient and Hessian based on an incomplete Cholesky decomposition. In contrast to other efficient kernel-based ICA algorithms, FastKICA is applicable to any twice differentiable kernel function. Experimental results for problems with large numbers of sources and observations indicate that FastKICA provides more accurate solutions at a given cost than gradient descent on HSIC. Comparing with other recently published ICA methods, FastKICA is competitive in terms of accuracy, relatively insensitive to local minima when initialized far from independence, and more robust towards outliers. An analysis of the local convergence properties of FastKICA is provided.

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PDF Web DOI [BibTex]

PDF Web DOI [BibTex]


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Guest editorial: Special issue on robot learning, Part B

Peters, J., Ng, A.

Autonomous Robots, 27(2):91-92, August 2009 (article)

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PDF PDF DOI [BibTex]

PDF PDF DOI [BibTex]


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Estimating Critical Stimulus Features from Psychophysical Data: The Decision-Image Technique Applied to Human Faces

Macke, J., Wichmann, F.

Journal of Vision, 9(8):31, 9th Annual Meeting of the Vision Sciences Society (VSS), August 2009 (poster)

Abstract
One of the main challenges in the sensory sciences is to identify the stimulus features on which the sensory systems base their computations: they are a pre-requisite for computational models of perception. We describe a technique---decision-images--- for extracting critical stimulus features based on logistic regression. Rather than embedding the stimuli in noise, as is done in classification image analysis, we want to infer the important features directly from physically heterogeneous stimuli. A Decision-image not only defines the critical region-of-interest within a stimulus but is a quantitative template which defines a direction in stimulus space. Decision-images thus enable the development of predictive models, as well as the generation of optimized stimuli for subsequent psychophysical investigations. Here we describe our method and apply it to data from a human face discrimination experiment. We show that decision-images are able to predict human responses not only in terms of overall percent correct but are able to predict, for individual observers, the probabilities with which individual faces are (mis-) classified. We then test the predictions of the models using optimized stimuli. Finally, we discuss possible generalizations of the approach and its relationships with other models.

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Web DOI [BibTex]

Web DOI [BibTex]