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2016


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Implications of Action-Oriented Paradigm Shifts in Cognitive Science

Dominey, P. F., Prescott, T. J., Bohg, J., Engel, A. K., Gallagher, S., Heed, T., Hoffmann, M., Knoblich, G., Prinz, W., Schwartz, A.

In The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18, pages: 333-356, 20, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strüngmann Forum, May 2016 (incollection) In press

Abstract
An action-oriented perspective changes the role of an individual from a passive observer to an actively engaged agent interacting in a closed loop with the world as well as with others. Cognition exists to serve action within a landscape that contains both. This chapter surveys this landscape and addresses the status of the pragmatic turn. Its potential influence on science and the study of cognition are considered (including perception, social cognition, social interaction, sensorimotor entrainment, and language acquisition) and its impact on how neuroscience is studied is also investigated (with the notion that brains do not passively build models, but instead support the guidance of action). A review of its implications in robotics and engineering includes a discussion of the application of enactive control principles to couple action and perception in robotics as well as the conceptualization of system design in a more holistic, less modular manner. Practical applications that can impact the human condition are reviewed (e.g. educational applications, treatment possibilities for developmental and psychopathological disorders, the development of neural prostheses). All of this foreshadows the potential societal implications of the pragmatic turn. The chapter concludes that an action-oriented approach emphasizes a continuum of interaction between technical aspects of cognitive systems and robotics, biology, psychology, the social sciences, and the humanities, where the individual is part of a grounded cultural system.

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The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science 18th Ernst Strüngmann Forum Bibliography Chapter link (url) [BibTex]

2016


The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science 18th Ernst Strüngmann Forum Bibliography Chapter link (url) [BibTex]


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Learning Action-Perception Cycles in Robotics: A Question of Representations and Embodiment

Bohg, J., Kragic, D.

In The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18, pages: 309-320, 18, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strüngmann Forum, May 2016 (incollection) In press

Abstract
Since the 1950s, robotics research has sought to build a general-purpose agent capable of autonomous, open-ended interaction with realistic, unconstrained environments. Cognition is perceived to be at the core of this process, yet understanding has been challenged because cognition is referred to differently within and across research areas, and is not clearly defined. The classic robotics approach is decomposition into functional modules which perform planning, reasoning, and problem-solving or provide input to these mechanisms. Although advancements have been made and numerous success stories reported in specific niches, this systems-engineering approach has not succeeded in building such a cognitive agent. The emergence of an action-oriented paradigm offers a new approach: action and perception are no longer separable into functional modules but must be considered in a complete loop. This chapter reviews work on different mechanisms for action- perception learning and discusses the role of embodiment in the design of the underlying representations and learning. It discusses the evaluation of agents and suggests the development of a new embodied Turing Test. Appropriate scenarios need to be devised in addition to current competitions, so that abilities can be tested over long time periods.

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18th Ernst Strüngmann Forum The Pragmatic Turn- Toward Action-Oriented Views in Cognitive Science Bibliography Chapter link (url) [BibTex]

18th Ernst Strüngmann Forum The Pragmatic Turn- Toward Action-Oriented Views in Cognitive Science Bibliography Chapter link (url) [BibTex]


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Nonlinear functional causal models for distinguishing cause from effect

Zhang, K., Hyvärinen, A.

In Statistics and Causality: Methods for Applied Empirical Research, pages: 185-201, 8, 1st, (Editors: Wolfgang Wiedermann and Alexander von Eye), John Wiley & Sons, Inc., 2016 (inbook)

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[BibTex]

[BibTex]


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A cognitive brain–computer interface for patients with amyotrophic lateral sclerosis

Hohmann, M., Fomina, T., Jayaram, V., Widmann, N., Förster, C., Just, J., Synofzik, M., Schölkopf, B., Schöls, L., Grosse-Wentrup, M.

In Brain-Computer Interfaces: Lab Experiments to Real-World Applications, 228(Supplement C):221-239, 8, Progress in Brain Research, (Editors: Damien Coyle), Elsevier, 2016 (incollection)

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DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Locally Weighted Regression for Control

Ting, J., Meier, F., Vijayakumar, S., Schaal, S.

In Encyclopedia of Machine Learning and Data Mining, pages: 1-14, Springer US, Boston, MA, 2016 (inbook)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]

2015


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Untethered Magnetic Micromanipulation

Diller, E., Sitti, M.

In Micro-and Nanomanipulation Tools, 13, 10, Wiley-VCH Verlag GmbH & Co. KGaA, November 2015 (inbook)

Abstract
This chapter discusses the methods and state of the art in microscale manipulation in remote environments using untethered microrobotic devices. It focuses on manipulation at the size scale of tens to hundreds of microns, where small size leads to a dominance of microscale physical effects and challenges in fabrication and actuation. To motivate the challenges of operating at this size scale, the chapter includes coverage of the physical forces relevant to microrobot motion and manipulation below the millimeter-size scale. It then introduces the actuation methods commonly used in untethered manipulation schemes, with particular focus on magnetic actuation due to its wide use in the field. The chapter divides these manipulation techniques into two types: contact manipulation, which relies on direct pushing or grasping of objects for motion, and noncontact manipulation, which relies indirectly on induced fluid flow from the microrobot motion to move objects without any direct contact.

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DOI Project Page [BibTex]

2015


DOI Project Page [BibTex]


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Kernel methods in medical imaging

Charpiat, G., Hofmann, M., Schölkopf, B.

In Handbook of Biomedical Imaging, pages: 63-81, 4, (Editors: Paragios, N., Duncan, J. and Ayache, N.), Springer, Berlin, Germany, June 2015 (inbook)

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Web link (url) [BibTex]

Web link (url) [BibTex]


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Lernende Roboter

Trimpe, S.

In Jahrbuch der Max-Planck-Gesellschaft, Max Planck Society, May 2015, (popular science article in German) (inbook)

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link (url) [BibTex]

link (url) [BibTex]


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Autonomous Robots

Schaal, S.

In Jahrbuch der Max-Planck-Gesellschaft, May 2015 (incollection)

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[BibTex]

[BibTex]


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Justifying Information-Geometric Causal Inference

Janzing, D., Steudel, B., Shajarisales, N., Schölkopf, B.

In Measures of Complexity: Festschrift for Alexey Chervonenkis, pages: 253-265, 18, (Editors: Vovk, V., Papadopoulos, H. and Gammerman, A.), Springer, 2015 (inbook)

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DOI [BibTex]

DOI [BibTex]


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Robot Learning

Peters, J., Lee, D., Kober, J., Nguyen-Tuong, D., Bagnell, J. A., Schaal, S.

In Springer Handbook of Robotics 2nd Edition, pages: 1371-1394, Springer Berlin Heidelberg, Berlin, Heidelberg, 2015 (incollection)

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[BibTex]

[BibTex]

2013


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A Review of Performance Variations in SMR-Based Brain–Computer Interfaces (BCIs)

Grosse-Wentrup, M., Schölkopf, B.

In Brain-Computer Interface Research, pages: 39-51, 4, SpringerBriefs in Electrical and Computer Engineering, (Editors: Guger, C., Allison, B. Z. and Edlinger, G.), Springer, 2013 (inbook)

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PDF DOI [BibTex]

2013


PDF DOI [BibTex]


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Semi-supervised learning in causal and anticausal settings

Schölkopf, B., Janzing, D., Peters, J., Sgouritsa, E., Zhang, K., Mooij, J.

In Empirical Inference, pages: 129-141, 13, Festschrift in Honor of Vladimir Vapnik, (Editors: Schölkopf, B., Luo, Z. and Vovk, V.), Springer, 2013 (inbook)

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DOI [BibTex]

DOI [BibTex]


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Tractable large-scale optimization in machine learning

Sra, S.

In Tractability: Practical Approaches to Hard Problems, pages: 202-230, 7, (Editors: Bordeaux, L., Hamadi , Y., Kohli, P. and Mateescu, R. ), Cambridge University Press , 2013 (inbook)

ei

[BibTex]

[BibTex]


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On the Relations and Differences between Popper Dimension, Exclusion Dimension and VC-Dimension

Seldin, Y., Schölkopf, B.

In Empirical Inference - Festschrift in Honor of Vladimir N. Vapnik, pages: 53-57, 6, (Editors: Schölkopf, B., Luo, Z. and Vovk, V.), Springer, 2013 (inbook)

ei

[BibTex]

[BibTex]


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Behavior as broken symmetry in embodied self-organizing robots

Der, R., Martius, G.

In Advances in Artificial Life, ECAL 2013, pages: 601-608, MIT Press, 2013 (incollection)

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[BibTex]

[BibTex]


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Using Torque Redundancy to Optimize Contact Forces in Legged Robots

Righetti, L., Buchli, J., Mistry, M., Kalakrishnan, M., Schaal, S.

In Redundancy in Robot Manipulators and Multi-Robot Systems, 57, pages: 35-51, Lecture Notes in Electrical Engineering, Springer Berlin Heidelberg, 2013 (incollection)

Abstract
The development of legged robots for complex environments requires controllers that guarantee both high tracking performance and compliance with the environment. More specifically the control of contact interaction with the environment is of crucial importance to ensure stable, robust and safe motions. In the following, we present an inverse dynamics controller that exploits torque redundancy to directly and explicitly minimize any combination of linear and quadratic costs in the contact constraints and in the commands. Such a result is particularly relevant for legged robots as it allows to use torque redundancy to directly optimize contact interactions. For example, given a desired locomotion behavior, it can guarantee the minimization of contact forces to reduce slipping on difficult terrains while ensuring high tracking performance of the desired motion. The proposed controller is very simple and computationally efficient, and most importantly it can greatly improve the performance of legged locomotion on difficult terrains as can be seen in the experimental results.

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link (url) [BibTex]

link (url) [BibTex]


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Class-Specific Hough Forests for Object Detection

Gall, J., Lempitsky, V.

In Decision Forests for Computer Vision and Medical Image Analysis, pages: 143-157, 11, (Editors: Criminisi, A. and Shotton, J.), Springer, 2013 (incollection)

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code Project Page [BibTex]

code Project Page [BibTex]

2009


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Text Clustering with Mixture of von Mises-Fisher Distributions

Sra, S., Banerjee, A., Ghosh, J., Dhillon, I.

In Text mining: classification, clustering, and applications, pages: 121-161, Chapman & Hall/CRC data mining and knowledge discovery series, (Editors: Srivastava, A. N. and Sahami, M.), CRC Press, Boca Raton, FL, USA, June 2009 (inbook)

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Web DOI [BibTex]

2009


Web DOI [BibTex]


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Data Mining for Biologists

Tsuda, K.

In Biological Data Mining in Protein Interaction Networks, pages: 14-27, (Editors: Li, X. and Ng, S.-K.), Medical Information Science Reference, Hershey, PA, USA, May 2009 (inbook)

Abstract
In this tutorial chapter, we review basics about frequent pattern mining algorithms, including itemset mining, association rule mining and graph mining. These algorithms can find frequently appearing substructures in discrete data. They can discover structural motifs, for example, from mutation data, protein structures and chemical compounds. As they have been primarily used for business data, biological applications are not so common yet, but their potential impact would be large. Recent advances in computers including multicore machines and ever increasing memory capacity support the application of such methods to larger datasets. We explain technical aspects of the algorithms, but do not go into details. Current biological applications are summarized and possible future directions are given.

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Web [BibTex]

Web [BibTex]


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Large Margin Methods for Part of Speech Tagging

Altun, Y.

In Automatic Speech and Speaker Recognition: Large Margin and Kernel Methods, pages: 141-160, (Editors: Keshet, J. and Bengio, S.), Wiley, Hoboken, NJ, USA, January 2009 (inbook)

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Web [BibTex]

Web [BibTex]


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Covariate shift and local learning by distribution matching

Gretton, A., Smola, A., Huang, J., Schmittfull, M., Borgwardt, K., Schölkopf, B.

In Dataset Shift in Machine Learning, pages: 131-160, (Editors: Quiñonero-Candela, J., Sugiyama, M., Schwaighofer, A. and Lawrence, N. D.), MIT Press, Cambridge, MA, USA, 2009 (inbook)

Abstract
Given sets of observations of training and test data, we consider the problem of re-weighting the training data such that its distribution more closely matches that of the test data. We achieve this goal by matching covariate distributions between training and test sets in a high dimensional feature space (specifically, a reproducing kernel Hilbert space). This approach does not require distribution estimation. Instead, the sample weights are obtained by a simple quadratic programming procedure. We provide a uniform convergence bound on the distance between the reweighted training feature mean and the test feature mean, a transductive bound on the expected loss of an algorithm trained on the reweighted data, and a connection to single class SVMs. While our method is designed to deal with the case of simple covariate shift (in the sense of Chapter ??), we have also found benefits for sample selection bias on the labels. Our correction procedure yields its greatest and most consistent advantages when the learning algorithm returns a classifier/regressor that is simpler" than the data might suggest.

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PDF Web [BibTex]

PDF Web [BibTex]


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Metal-Organic Frameworks

Panella, B., Hirscher, M.

In Encyclopedia of Electrochemical Power Sources, pages: 493-496, Elsevier, Amsterdam [et al.], 2009 (incollection)

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[BibTex]

[BibTex]


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Carbon Materials

Hirscher, M.

In Encyclopedia of Electrochemical Power Sources, pages: 484-487, Elsevier, Amsterdam [et al.], 2009 (incollection)

mms

[BibTex]

[BibTex]