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Mostafaei, Habib (author), Smaragdakis, G. (author), Zinner, Thomas (author), Feldmann, Anja (author)Big data analytics platforms have played a critical role in the unprecedented success of data-driven applications. However, real-time and streaming data applications, and recent legislation, e.g., GDPR in Europe, have posed constraints on exchanging and analyzing data, especially personal data, across geographic regions. To address such...journal article 2022
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Mészáros, A. (author), Franzese, G. (author), Kober, J. (author)This work investigates how the intricate task of a continuous pick & place (P&P) motion may be learned from humans based on demonstrations and corrections. Due to the complexity of the task, these demonstrations are often slow and even slightly flawed, particularly at moments when multiple aspects (i.e., end-effector movement,...journal article 2022
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Kon, Johan (author), Bruijnen, Dennis (author), van de Wijdeven, Jeroen (author), Heertjes, Marcel (author), Oomen, T.A.E. (author)Unknown nonlinear dynamics often limit the tracking performance of feedforward control. The aim of this paper is to develop a feedforward control framework that can compensate these unknown nonlinear dynamics using universal function approximators. The feedforward controller is parametrized as a parallel combination of a physics-based model and...conference paper 2022
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Anil Meera, A. (author), Wisse, M. (author)The free energy principle (FEP) from neuroscience provides a framework called active inference for the joint estimation and control of state space systems, subjected to colored noise. However, the active inference community has been challenged with the critical task of manually tuning the noise smoothness parameter. To solve this problem, we...conference paper 2022
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Cai, Yifan (author), Dahiya, Abhinav (author), Wilde, N. (author), Smith, Stephen L. (author)In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a task, a robot can either operate autonomously or be teleoperated by the human operator to complete the task at...conference paper 2022
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Mey, A. (author), Loog, M. (author)Semi-supervised learning is the learning setting in which we have both labeled and unlabeled data at our disposal. This survey covers theoretical results for this setting and maps out the benefits of unlabeled data in classification and regression tasks. Most methods that use unlabeled data rely on certain assumptions about the data...journal article 2022
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MuCoMiD: A Multitask graph Convolutional Learning Framework for miRNA-Disease Association PredictionDong, Thi Ngan (author), Mucke, Stefanie (author), Khosla, M. (author)Growing evidence from recent studies implies that microRNAs or miRNAs could serve as biomarkers in various complex human diseases. Since wet-lab experiments for detecting miRNAs associated with a disease are expensive and time-consuming, machine learning techniques for miRNA-disease association prediction have attracted much attention in...journal article 2022
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Cozzolino, Vittorio (author), Tonetto, Leonardo (author), Mohan, Nitinder (author), Ding, Aaron Yi (author), Ott, Jorg (author)Widespread adoption of mobile augmented reality (AR) and virtual reality (VR) applications depends on their smoothness and immersiveness. Modern AR applications applying computationally intensive computer vision algorithms can burden today's mobile devices, and cause high energy consumption and/or poor performance. To tackle this challenge, it...journal article 2022
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Van der Ploeg, Chris (author), Alirezaei, Mohsen (author), Van De Wouw, Nathan (author), Mohajerin Esfahani, P. (author)In this article, we propose a tractable nonlinear fault estimation filter along with explicit performance bounds for a class of linear dynamical systems in the presence of both additive and nonlinear multiplicative faults. We consider the case, where both faults may occur simultaneously and through an identical dynamical relationship, a...journal article 2022
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Rios Lazcano, A.M. (author), Niu, Tenghao (author), Carrera Akutain, Xabier (author), Cole, David (author), Shyrokau, B. (author)Advanced Driver Assistance Systems (ADAS) aim to increase safety and reduce mental workload. However, the gap in the understanding of the closed-loop driver-vehicle interaction often leads to reduced user acceptance. In this study, an optimal torque control law is calculated online in the Model Predictive Control (MPC) framework to guarantee...journal article 2021
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Basalp, Ekin (author), Wolf, Peter (author), Marchal Crespo, L. (author)The use of robots has attracted researchers to design numerous haptic training methods to support motor learning. However, investigations of new methods yielded inconclusive results regarding their effectiveness to enhance learning due to the diversity of tasks, haptic designs, participants skill level, and study protocols. In this review, we...review 2021
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Aniche, Maurício (author), Treude, Christoph (author), Zaidman, A.E. (author)One of the main challenges that developers face when testing their systems lies in engineering test cases that are good enough to reveal bugs. And while our body of knowledge on software testing and automated test case generation is already quite significant, in practice, developers are still the ones responsible for engineering test cases...journal article 2021
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Bonacchi, Luigi Bono (author), Roa, Maximo A. (author), Sesselmann, Anna (author), Loeffl, Florian (author), Albu-Schaffer, Alin (author), Della Santina, C. (author)Introducing elasticity in the mechanical design can endow robots with the ability of performing efficient and effective periodic motions. Yet, devising controllers that can take advantage of such elasticity is still an open challenge. This letter tackles an instance of this general problem, by proposing a control architecture for executing...journal article 2021
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Zhou, Peng (author), Zhu, J. (author), Huo, Shengzeng (author), Navarro-Alarcon, David (author)Soft object manipulation has recently gained popularity within the robotics community due to its potential applications in many economically important areas. Although great progress has been recently achieved in these types of tasks, most state-of-the-art methods are case-specific; They can only be used to perform a single deformation task (e...journal article 2021
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Zhang, Xinyue (author), Le, Yun (author), Liu, Y. (author), Chen, Xiaoyan (author)In emerging economies, infrastructure projects are in full swing. There is a wealth of replicable experience for exploitation. Simultaneously, more technologies and methodologies require further exploration. This makes fostering ambidextrous innovation strategies (i.e., the tradeoff between exploitative and exploratory innovation strategies) a...journal article 2021
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Xia, Z. (author), Booij, Olaf (author), Manfredi, Marco (author), Kooij, J.F.P. (author)Cross-view matching aims to learn a shared image representation between ground-level images and satellite or aerial images at the same locations. In robotic vehicles, matching a camera image to a database of geo-referenced aerial imagery can serve as a method for self-localization. However, existing work on cross-view matching only aims at...journal article 2021
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Wang, X. (author), Qiao, T. (author), Zhu, Jihua (author), Hanjalic, A. (author), Scharenborg, O.E. (author)Text-based technologies, such as text translation from one language to another, and image captioning, are gaining popularity. However, approximately half of the world's languages are estimated to be lacking a commonly used written form. Consequently, these languages cannot benefit from text-based technologies. This paper presents 1) a new...journal article 2021
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Sokooti, Hessam (author), Yousefi, Sahar (author), Elmahdy, Mohamed S. (author), Lelieveldt, B.P.F. (author), Staring, M. (author)In this paper we propose a supervised method to predict registration misalignment using convolutional neural networks (CNNs). This task is casted to a classification problem with multiple classes of misalignment: 'correct' 0-3 mm, 'poor' 3-6 mm and 'wrong' over 6 mm. Rather than a direct prediction, we propose a hierarchical approach, where...journal article 2021
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Chen, Zhe (author), Alonso-Mora, J. (author), Bai, X. (author), Harabor, Daniel Damir (author), Stuckey, Peter James (author)Multi-agent Pickup and Delivery (MAPD) is a challenging industrial problem where a team of robots is tasked with transporting a set of tasks, each from an initial location and each to a specified target location. Appearing in the context of automated warehouse logistics and automated mail sortation, MAPD requires first deciding which robot is...journal article 2021
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Kulhanek, Jonas (author), Derner, Erik (author), Babuska, R. (author)Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing, localization, and planning in one module, which can be trained and therefore optimized for a given environment....journal article 2021