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2019


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Automatic Segmentation and Labelling for Robot Table Tennis Time Series

Lutz, P.

Technical University Darmstadt, Germany, August 2019 (thesis)

ei

[BibTex]

2019


[BibTex]


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Kernels for identifying patterns in datasets containing noise or transformation invariances

Schölkopf, B., Chapelle, C.

United States Patent, No. 8209269, June 2012 (patent)

ei

[BibTex]


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Expectation-Maximization methods for solving (PO)MDPs and optimal control problems

Toussaint, M., Storkey, A., Harmeling, S.

In Inference and Learning in Dynamic Models, (Editors: Barber, D., Cemgil, A.T. and Chiappa, S.), Cambridge University Press, Cambridge, UK, January 2012 (inbook) In press

ei

PDF [BibTex]

PDF [BibTex]


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Active Learning Methods in Classification of Remote Sensing Images

Bruzzone, L., Persello, C., Demir, B.

In Signal and Image Processing for Remote Sensing, (Editors: CH Chen), CRC Press, Boca Raton, FL, USA, January 2012 (inbook) In press

ei

[BibTex]

[BibTex]


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Inferential structure determination from NMR data

Habeck, M.

In Bayesian methods in structural bioinformatics, pages: 287-312, (Editors: Hamelryck, T., Mardia, K. V. and Ferkinghoff-Borg, J.), Springer, New York, 2012 (inbook)

ei

[BibTex]

[BibTex]


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Robot Learning

Sigaud, O., Peters, J.

In Encyclopedia of the sciences of learning, (Editors: Seel, N.M.), Springer, Berlin, Germany, 2012 (inbook)

ei

Web [BibTex]

Web [BibTex]


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Reinforcement Learning in Robotics: A Survey

Kober, J., Peters, J.

In Reinforcement Learning, 12, pages: 579-610, (Editors: Wiering, M. and Otterlo, M.), Springer, Berlin, Germany, 2012 (inbook)

Abstract
As most action generation problems of autonomous robots can be phrased in terms of sequential decision problems, robotics offers a tremendously important and interesting application platform for reinforcement learning. Similarly, the real-world challenges of this domain pose a major real-world check for reinforcement learning. Hence, the interplay between both disciplines can be seen as promising as the one between physics and mathematics. Nevertheless, only a fraction of the scientists working on reinforcement learning are sufficiently tied to robotics to oversee most problems encountered in this context. Thus, we will bring the most important challenges faced by robot reinforcement learning to their attention. To achieve this goal, we will attempt to survey most work that has successfully applied reinforcement learning to behavior generation for real robots. We discuss how the presented successful approaches have been made tractable despite the complexity of the domain and will study how representations or the inclusion of prior knowledge can make a significant difference. As a result, a particular focus of our chapter lies on the choice between model-based and model-free as well as between value function-based and policy search methods. As a result, we obtain a fairly complete survey of robot reinforcement learning which should allow a general reinforcement learning researcher to understand this domain.

ei

Web DOI [BibTex]

Web DOI [BibTex]


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Higher-Order Tensors in Diffusion MRI

Schultz, T., Fuster, A., Ghosh, A., Deriche, R., Florack, L., Lim, L.

In Visualization and Processing of Tensors and Higher Order Descriptors for Multi-Valued Data, (Editors: Westin, C. F., Vilanova, A. and Burgeth, B.), Springer, 2012 (inbook) Accepted

ei

[BibTex]

[BibTex]

2008


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Interactive images

Schölkopf, B., Toyama, K., Uyttendaele, M.

United States Patent, No 7444015, October 2008 (patent)

ei

[BibTex]

2008


[BibTex]


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Interactive images

Schölkopf, B., Toyama, K., Uyttendaele, M.

United States Patent, No 7444016, October 2008 (patent)

ei

[BibTex]

[BibTex]


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Interactive images

Schölkopf, B., Toyama, K., Uyttendaele, M.

United States Patent, No 7421115, September 2008 (patent)

ei

[BibTex]

[BibTex]


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Pattern detection using reduced set vectors

Blake, A., Romdhani, S., Schölkopf, B., Torr, P. H. S.

United States Patent, No 7391908, June 2008 (patent)

ei

[BibTex]

[BibTex]


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New Frontiers in Characterizing Structure and Dynamics by NMR

Nilges, M., Markwick, P., Malliavin, TE., Rieping, W., Habeck, M.

In Computational Structural Biology: Methods and Applications, pages: 655-680, (Editors: Schwede, T. , M. C. Peitsch), World Scientific, New Jersey, NJ, USA, May 2008 (inbook)

Abstract
Nuclear Magnetic Resonance (NMR) spectroscopy has emerged as the method of choice for studying both the structure and the dynamics of biological macromolecule in solution. Despite the maturity of the NMR method for structure determination, its application faces a number of challenges. The method is limited to systems of relatively small molecular mass, data collection times are long, data analysis remains a lengthy procedure, and it is difficult to evaluate the quality of the final structures. The last years have seen significant advances in experimental techniques to overcome or reduce some limitations. The function of bio-macromolecules is determined by both their 3D structure and conformational dynamics. These molecules are inherently flexible systems displaying a broad range of dynamics on time–scales from picoseconds to seconds. NMR is unique in its ability to obtain dynamic information on an atomic scale. The experimental information on structure and dynamics is intricately mixed. It is however difficult to unite both structural and dynamical information into one consistent model, and protocols for the determination of structure and dynamics are performed independently. This chapter deals with the challenges posed by the interpretation of NMR data on structure and dynamics. We will first relate the standard structure calculation methods to Bayesian probability theory. We will then briefly describe the advantages of a fully Bayesian treatment of structure calculation. Then, we will illustrate the advantages of using Bayesian reasoning at least partly in standard structure calculations. The final part will be devoted to interpretation of experimental data on dynamics.

ei

Web [BibTex]

Web [BibTex]


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Machine Learning for Robotics: Learning Methods for Robot Motor Skills

Peters, J.

pages: 107 , (Editors: J Peters), VDM-Verlag, Saarbrücken, Germany, May 2008 (book)

Abstract
Autonomous robots have been a vision of robotics, artificial intelligence, and cognitive sciences. An important step towards this goal is to create robots that can learn to accomplish amultitude of different tasks triggered by environmental context and higher-level instruction. Early approaches to this goal during the heydays of artificial intelligence research in the late 1980s showed that handcrafted approaches do not suffice and that machine learning is needed. However, off the shelf learning techniques often do not scale into real-time or to the high-dimensional domains of manipulator and humanoid robotics. In this book, we investigate the foundations for a general approach to motor skilllearning that employs domain-specific machine learning methods. A theoretically well-founded general approach to representing the required control structures for task representation and executionis presented along with novel learning algorithms that can be applied in this setting. The resulting framework is shown to work well both in simulation and on real robots.

ei

Web [BibTex]

Web [BibTex]


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Kernels and methods for selecting kernels for use in learning machines

Bartlett, P. L., Elisseeff, A., Schölkopf, B.

United States Patent, No 7353215, April 2008 (patent)

ei

[BibTex]

[BibTex]


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Methods for feature selection in a learning machine

Weston, J., Elisseeff, A., Schölkopf, B., Pérez-Cruz, F.

United States Patent, No 7318051, January 2008 (patent)

ei

[BibTex]

[BibTex]


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A Robot System for Biomimetic Navigation: From Snapshots to Metric Embeddings of View Graphs

Franz, MO., Stürzl, W., Reichardt, W., Mallot, HA.

In Robotics and Cognitive Approaches to Spatial Mapping, pages: 297-314, Springer Tracts in Advanced Robotics ; 38, (Editors: Jefferies, M.E. , W.-K. Yeap), Springer, Berlin, Germany, 2008 (inbook)

Abstract
Complex navigation behaviour (way-finding) involves recognizing several places and encoding a spatial relationship between them. Way-finding skills can be classified into a hierarchy according to the complexity of the tasks that can be performed [8]. The most basic form of way-finding is route navigation, followed by topological navigation where several routes are integrated into a graph-like representation. The highest level, survey navigation, is reached when this graph can be embedded into a common reference frame. In this chapter, we present the building blocks for a biomimetic robot navigation system that encompasses all levels of this hierarchy. As a local navigation method, we use scene-based homing. In this scheme, a goal location is characterized either by a panoramic snapshot of the light intensities as seen from the place, or by a record of the distances to the surrounding objects. The goal is found by moving in the direction that minimizes the discrepancy between the recorded intensities or distances and the current sensory input. For learning routes, the robot selects distinct views during exploration that are close enough to be reached by snapshot-based homing. When it encounters already visited places during route learning, it connects the routes and thus forms a topological representation of its environment termed a view graph. The final stage, survey navigation, is achieved by a graph embedding procedure which complements the topologic information of the view graph with odometric position estimates. Calculation of the graph embedding is done with a modified multidimensional scaling algorithm which makes use of distances and angles between nodes.

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PDF PDF DOI [BibTex]

PDF PDF DOI [BibTex]


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Haptic Device For Cell Manipulation

Lee, DY., Son, HI., Woo, HJ.

Max-Planck-Gesellschaft, Biologische Kybernetik, 2008 (patent)

ei

[BibTex]

[BibTex]

2001


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Extracting egomotion from optic flow: limits of accuracy and neural matched filters

Dahmen, H-J., Franz, MO., Krapp, HG.

In pages: 143-168, Springer, Berlin, 2001 (inbook)

ei

[BibTex]

2001


[BibTex]