Intelligent Systems
Note: This research group has relocated.

22 results (View BibTeX file of all listed publications)

2024

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Physics-Based Rigid Body Object Tracking and Friction Filtering From RGB-D Videos

Kandukuri, R. K., Strecke, M., Stueckler, J.

In Proceedings of the International Conference on 3D Vision (3DV), 2024 (inproceedings)

Abstract
Physics-based understanding of object interactions from sensory observations is an essential capability in augmented reality and robotics. It enables to capture the properties of a scene for simulation and control. In this paper, we propose a novel approach for real-to-sim which tracks rigid objects in 3D from RGB-D images and infers physical properties of the objects. We use a differentiable physics simulation as state-transition model in an Extended Kalman Filter which can model contact and friction for arbitrary mesh-based shapes and in this way estimate physically plausible trajectories. We demonstrate that our approach can filter position, orientation, velocities, and concurrently can estimate the coefficient of friction of the objects. We analyze our approach on various sliding scenarios in synthetic image sequences of single objects and colliding objects. We also demonstrate and evaluate our approach on a real-world dataset. We make our novel benchmark datasets publicly available to foster future research in this novel problem setting and comparison with our method.

preprint supplemental video dataset link (url) DOI [BibTex]

2024

Kandukuri, R. K., Strecke, M., Stueckler, J. Physics-Based Rigid Body Object Tracking and Friction Filtering From RGB-D Videos In Proceedings of the International Conference on 3D Vision (3DV), 2024 (inproceedings)

preprint supplemental video dataset link (url) DOI [BibTex]

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Physically Plausible Object Pose Refinement in Cluttered Scenes

Strecke, M., Stueckler, J.

In Proceedings of the German Conference on Pattern Recognition (GCPR), 2024, to appear (inproceedings) To be published

code preprint (submitted version) [BibTex]

Strecke, M., Stueckler, J. Physically Plausible Object Pose Refinement in Cluttered Scenes In Proceedings of the German Conference on Pattern Recognition (GCPR), 2024, to appear (inproceedings) To be published

code preprint (submitted version) [BibTex]

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Analytical Uncertainty-Based Loss Weighting in Multi-Task Learning

Kirchdorfer, L., Elich, C., Kutsche, S., Stuckenschmidt, H., Schott, L., Köhler, J. M.

In Proceedings of the German Conference on Pattern Recognition (GCPR), 2024, to appear (inproceedings) To be published

preprint [BibTex]

Kirchdorfer, L., Elich, C., Kutsche, S., Stuckenschmidt, H., Schott, L., Köhler, J. M. Analytical Uncertainty-Based Loss Weighting in Multi-Task Learning In Proceedings of the German Conference on Pattern Recognition (GCPR), 2024, to appear (inproceedings) To be published

preprint [BibTex]

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Examining Common Paradigms in Multi-Task Learning

Elich, C., Kirchdorfer, L., Köhler, J. M., Schott, L.

In Proceedings of the German Conference on Pattern Recognition (GCPR), 2024, to appear (inproceedings) To be published

preprint [BibTex]

Elich, C., Kirchdorfer, L., Köhler, J. M., Schott, L. Examining Common Paradigms in Multi-Task Learning In Proceedings of the German Conference on Pattern Recognition (GCPR), 2024, to appear (inproceedings) To be published

preprint [BibTex]

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Online Calibration of a Single-Track Ground Vehicle Dynamics Model by Tight Fusion with Visual-Inertial Odometry

Li, H., Stueckler, J.

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2024 (inproceedings)

Abstract
Wheeled mobile robots need the ability to estimate their motion and the effect of their control actions for navigation planning. In this paper, we present ST-VIO, a novel approach which tightly fuses a single-track dynamics model for wheeled ground vehicles with visual-inertial odometry (VIO). Our method calibrates and adapts the dynamics model online to improve the accuracy of forward prediction conditioned on future control inputs. The single-track dynamics model approximates wheeled vehicle motion under specific control inputs on flat ground using ordinary differential equations. We use a singularity-free and differentiable variant of the single-track model to enable seamless integration as dynamics factor into VIO and to optimize the model parameters online together with the VIO state variables. We validate our method with real-world data in both indoor and outdoor environments with different terrain types and wheels. In experiments, we demonstrate that ST-VIO can not only adapt to wheel or ground changes and improve the accuracy of prediction under new control inputs, but can even improve tracking accuracy.

preprint supplemental video code datasets link (url) DOI [BibTex]

Li, H., Stueckler, J. Online Calibration of a Single-Track Ground Vehicle Dynamics Model by Tight Fusion with Visual-Inertial Odometry In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2024 (inproceedings)

preprint supplemental video code datasets link (url) DOI [BibTex]

2023

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Black-Box vs. Gray-Box: A Case Study on Learning Table Tennis Ball Trajectory Prediction with Spin and Impacts

Achterhold, J., Tobuschat, P., Ma, H., Büchler, D., Muehlebach, M., Stueckler, J.

In Proceedings of the 5th Annual Learning for Dynamics and Control Conference (L4DC), 211, pages: 878-890, Proceedings of Machine Learning Research, (Editors: Nikolai Matni, Manfred Morari and George J. Pappa), PMLR, June 2023 (inproceedings)

preprint code link (url) [BibTex]

2023

Achterhold, J., Tobuschat, P., Ma, H., Büchler, D., Muehlebach, M., Stueckler, J. Black-Box vs. Gray-Box: A Case Study on Learning Table Tennis Ball Trajectory Prediction with Spin and Impacts In Proceedings of the 5th Annual Learning for Dynamics and Control Conference (L4DC), 211, pages: 878-890, Proceedings of Machine Learning Research, (Editors: Nikolai Matni, Manfred Morari and George J. Pappa), PMLR, June 2023 (inproceedings)

preprint code link (url) [BibTex]

Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion

Dhédin, V., Li, H., Khorshidi, S., Mack, L., Ravi, A. K. C., Meduri, A., Shah, P., Grimminger, F., Righetti, L., Khadiv, M., Stueckler, J.

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023 (inproceedings)

Abstract
Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art approaches fail to produce reliable estimation of the robot posture, in particular base height. In this paper, we propose a novel approach for combining visual-inertial odometry (VIO) with leg odometry in an extended Kalman filter (EKF) based state estimator. The VIO module uses a stereo camera and IMU to yield low-drift 3D position and yaw orientation and drift-free pitch and roll orientation of the robot base link in the inertial frame. However, these values have a considerable amount of latency due to image processing and optimization, while the rate of update is quite low which is not suitable for low-level control. To reduce the latency, we predict the VIO state estimate at the rate of the IMU measurements of the VIO sensor. The EKF module uses the base pose and linear velocity predicted by VIO, fuses them further with a second high-rate IMU and leg odometry measurements, and produces robot state estimates with a high frequency and small latency suitable for control. We integrate this lightweight estimation framework with a nonlinear model predictive controller and show successful implementation of a set of agile locomotion behaviors, including trotting and jumping at varying horizontal speeds, on a torque-controlled quadruped robot.

preprint video link (url) DOI [BibTex]

Dhédin, V., Li, H., Khorshidi, S., Mack, L., Ravi, A. K. C., Meduri, A., Shah, P., Grimminger, F., Righetti, L., Khadiv, M., Stueckler, J. Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023 (inproceedings)

preprint video link (url) DOI [BibTex]

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Learning-based Relational Object Matching Across Views

Elich, C., Armeni, I., Oswald, M. R., Pollefeys, M., Stueckler, J.

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023 (inproceedings)

Abstract
Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can benefit from reasoning on the level of objects. While keypoint-based matching can yield strong results for finding correspondences for images with small to medium view point changes, for large view point changes, matching semantically on the object-level becomes advantageous. In this paper, we propose a learning-based approach which combines local keypoints with novel object-level features for matching object detections between RGB images. We train our object-level matching features based on appearance and inter-frame and cross-frame spatial relations between objects in an associative graph neural network. We demonstrate our approach in a large variety of views on realistically rendered synthetic images. Our approach compares favorably to previous state-of-the-art object-level matching approaches and achieves improved performance over a pure keypoint-based approach for large view-point changes.

preprint code link (url) DOI [BibTex]

Elich, C., Armeni, I., Oswald, M. R., Pollefeys, M., Stueckler, J. Learning-based Relational Object Matching Across Views In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023 (inproceedings)

preprint code link (url) DOI [BibTex]

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Context-Conditional Navigation with a Learning-Based Terrain- and Robot-Aware Dynamics Model

Guttikonda, S., Achterhold, J., Li, H., Boedecker, J., Stueckler, J.

In Proceedings of the European Conference on Mobile Robots (ECMR), 2023 (inproceedings)

Abstract
In autonomous navigation settings, several quantities can be subject to variations. Terrain properties such as friction coefficients may vary over time depending on the location of the robot. Also, the dynamics of the robot may change due to, e.g., different payloads, changing the system's mass, or wear and tear, changing actuator gains or joint friction. An autonomous agent should thus be able to adapt to such variations. In this paper, we develop a novel probabilistic, terrain- and robot-aware forward dynamics model, termed TRADYN, which is able to adapt to the above-mentioned variations. It builds on recent advances in meta-learning forward dynamics models based on Neural Processes. We evaluate our method in a simulated 2D navigation setting with a unicycle-like robot and different terrain layouts with spatially varying friction coefficients. In our experiments, the proposed model exhibits lower prediction error for the task of long-horizon trajectory prediction, compared to non-adaptive ablation models. We also evaluate our model on the downstream task of navigation planning, which demonstrates improved performance in planning control-efficient paths by taking robot and terrain properties into account.

preprint code link (url) DOI [BibTex]

Guttikonda, S., Achterhold, J., Li, H., Boedecker, J., Stueckler, J. Context-Conditional Navigation with a Learning-Based Terrain- and Robot-Aware Dynamics Model In Proceedings of the European Conference on Mobile Robots (ECMR), 2023 (inproceedings)

preprint code link (url) DOI [BibTex]

2022

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Event-based Non-Rigid Reconstruction from Contours

(Best Student Paper Award)

Xue, Y., Li, H., Leutenegger, S., Stueckler, J.

In Proceedings of the British Machine Vision Conference (BMVC), 2022 (inproceedings)

Abstract
Visual reconstruction of fast non-rigid object deformations over time is a challenge for conventional frame-based cameras. In this paper, we propose a novel approach for reconstructing such deformations using measurements from event-based cameras. Our approach estimates the deformation of objects from events generated at the object contour in a probabilistic optimization framework. It associates events to mesh faces on the contour and maximizes the alignment of the line of sight through the event pixel with the associated face. In experiments on synthetic and real data, we demonstrate the advantages of our method over state-of-the-art optimization and learning-based approaches for reconstructing the motion of human hands.

preprint video link (url) [BibTex]

2022

Xue, Y., Li, H., Leutenegger, S., Stueckler, J. Event-based Non-Rigid Reconstruction from Contours In Proceedings of the British Machine Vision Conference (BMVC), 2022 (inproceedings)

preprint video link (url) [BibTex]

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Learning Temporally Extended Skills in Continuous Domains as Symbolic Actions for Planning

Achterhold, J., Krimmel, M., Stueckler, J.

In Proceedings of The 6th Conference on Robot Learning , 205, pages: 225-236 , Proceedings of Machine Learning Research , 6th Annual Conference on Robot Learning (CoRL 2022) , 2022 (inproceedings)

Abstract
Problems which require both long-horizon planning and continuous control capabilities pose significant challenges to existing reinforcement learning agents. In this paper we introduce a novel hierarchical reinforcement learning agent which links temporally extended skills for continuous control with a forward model in a symbolic discrete abstraction of the environment’s state for planning. We term our agent SEADS for Symbolic Effect-Aware Diverse Skills. We formulate an objective and corresponding algorithm which leads to unsupervised learning of a diverse set of skills through intrinsic motivation given a known state abstraction. The skills are jointly learned with the symbolic forward model which captures the effect of skill execution in the state abstraction. After training, we can leverage the skills as symbolic actions using the forward model for long-horizon planning and subsequently execute the plan using the learned continuous-action control skills. The proposed algorithm learns skills and forward models that can be used to solve complex tasks which require both continuous control and long-horizon planning capabilities with high success rate. It compares favorably with other flat and hierarchical reinforcement learning baseline agents and is successfully demonstrated with a real robot.

preprint project website link (url) Project Page [BibTex]

Achterhold, J., Krimmel, M., Stueckler, J. Learning Temporally Extended Skills in Continuous Domains as Symbolic Actions for Planning In Proceedings of The 6th Conference on Robot Learning , 205, pages: 225-236 , Proceedings of Machine Learning Research , 6th Annual Conference on Robot Learning (CoRL 2022) , 2022 (inproceedings)

preprint project website link (url) Project Page [BibTex]

2021

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DiffSDFSim: Differentiable Rigid-Body Dynamics With Implicit Shapes

Strecke, M., Stückler, J.

In 2021 International Conference on 3D Vision (3DV 2021) , pages: 96-105 , International Conference on 3D Vision (3DV 2021) , December 2021 (inproceedings)

Project website Preprint Code link (url) DOI Project Page [BibTex]

2021

Strecke, M., Stückler, J. DiffSDFSim: Differentiable Rigid-Body Dynamics With Implicit Shapes In 2021 International Conference on 3D Vision (3DV 2021) , pages: 96-105 , International Conference on 3D Vision (3DV 2021) , December 2021 (inproceedings)

Project website Preprint Code link (url) DOI Project Page [BibTex]

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Explore the Context: Optimal Data Collection for Context-Conditional Dynamics Models

Achterhold, J., Stueckler, J.

In Proceedings of The 24th International Conference on Artificial Intelligence and Statistics (AISTATS 2021) , 130, JMLR, Cambridge, MA, Titel The 24th International Conference on Artificial Intelligence and Statistics (AISTATS 2021) , April 2021, preprint CoRR abs/2102.11394 (inproceedings)

Abstract
In this paper, we learn dynamics models for parametrized families of dynamical systems with varying properties. The dynamics models are formulated as stochastic processes conditioned on a latent context variable which is inferred from observed transitions of the respective system. The probabilistic formulation allows us to compute an action sequence which, for a limited number of environment interactions, optimally explores the given system within the parametrized family. This is achieved by steering the system through transitions being most informative for the context variable. We demonstrate the effectiveness of our method for exploration on a non-linear toy-problem and two well-known reinforcement learning environments.

Preprint Project page Poster link (url) Project Page [BibTex]

Achterhold, J., Stueckler, J. Explore the Context: Optimal Data Collection for Context-Conditional Dynamics Models In Proceedings of The 24th International Conference on Artificial Intelligence and Statistics (AISTATS 2021) , 130, JMLR, Cambridge, MA, Titel The 24th International Conference on Artificial Intelligence and Statistics (AISTATS 2021) , April 2021, preprint CoRR abs/2102.11394 (inproceedings)

Preprint Project page Poster link (url) Project Page [BibTex]

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Tracking 6-DoF Object Motion from Events and Frames

Li, H., Stueckler, J.

In Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), 2021 (inproceedings)

preprint link (url) DOI Project Page [BibTex]

Li, H., Stueckler, J. Tracking 6-DoF Object Motion from Events and Frames In Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), 2021 (inproceedings)

preprint link (url) DOI Project Page [BibTex]

2020

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Where Does It End? - Reasoning About Hidden Surfaces by Object Intersection Constraints

Strecke, M., Stückler, J.

In 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2020), pages: 9589 - 9597, IEEE, Piscataway, NJ, IEEE/CVF International Conference on Computer Vision and Pattern Recognition (CVPR 2020), June 2020, preprint Corr abs/2004.04630 (inproceedings)

preprint project page Code DOI Project Page [BibTex]

2020

Strecke, M., Stückler, J. Where Does It End? - Reasoning About Hidden Surfaces by Object Intersection Constraints In 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2020), pages: 9589 - 9597, IEEE, Piscataway, NJ, IEEE/CVF International Conference on Computer Vision and Pattern Recognition (CVPR 2020), June 2020, preprint Corr abs/2004.04630 (inproceedings)

preprint project page Code DOI Project Page [BibTex]

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DirectShape: Photometric Alignment of Shape Priors for Visual Vehicle Pose and Shape Estimation

Wang, R., Yang, N., Stückler, J., Cremers, D.

In Proceedings of the IEEE international Conference on Robotics and Automation (ICRA), pages: 11067 - 11073, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, arXiv:1904.10097 (inproceedings)

DOI Project Page [BibTex]

Wang, R., Yang, N., Stückler, J., Cremers, D. DirectShape: Photometric Alignment of Shape Priors for Visual Vehicle Pose and Shape Estimation In Proceedings of the IEEE international Conference on Robotics and Automation (ICRA), pages: 11067 - 11073, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, arXiv:1904.10097 (inproceedings)

DOI Project Page [BibTex]

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Learning to Identify Physical Parameters from Video Using Differentiable Physics

Kandukuri, R., Achterhold, J., Moeller, M., Stueckler, J.

Proc. of the 42th German Conference on Pattern Recognition (GCPR), 2020, GCPR 2020 Honorable Mention, preprint https://arxiv.org/abs/2009.08292 (conference)

link (url) Project Page [BibTex]

Kandukuri, R., Achterhold, J., Moeller, M., Stueckler, J. Learning to Identify Physical Parameters from Video Using Differentiable Physics Proc. of the 42th German Conference on Pattern Recognition (GCPR), 2020, GCPR 2020 Honorable Mention, preprint https://arxiv.org/abs/2009.08292 (conference)

link (url) Project Page [BibTex]

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Planning from Images with Deep Latent Gaussian Process Dynamics

Bosch, N., Achterhold, J., Leal-Taixe, L., Stückler, J.

Proceedings of the 2nd Conference on Learning for Dynamics and Control (L4DC), 120, pages: 640-650, Proceedings of Machine Learning Research (PMLR), (Editors: Alexandre M. Bayen and Ali Jadbabaie and George Pappas and Pablo A. Parrilo and Benjamin Recht and Claire Tomlin and Melanie Zeilinger), 2020, preprint arXiv:2005.03770 (conference)

Ppreprint Project page Code poster link (url) Project Page [BibTex]

Bosch, N., Achterhold, J., Leal-Taixe, L., Stückler, J. Planning from Images with Deep Latent Gaussian Process Dynamics Proceedings of the 2nd Conference on Learning for Dynamics and Control (L4DC), 120, pages: 640-650, Proceedings of Machine Learning Research (PMLR), (Editors: Alexandre M. Bayen and Ali Jadbabaie and George Pappas and Pablo A. Parrilo and Benjamin Recht and Claire Tomlin and Melanie Zeilinger), 2020, preprint arXiv:2005.03770 (conference)

Ppreprint Project page Code poster link (url) Project Page [BibTex]

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Sample-efficient Cross-Entropy Method for Real-time Planning

Pinneri, C., Sawant, S., Blaes, S., Achterhold, J., Stueckler, J., Rolinek, M., Martius, G.

In Conference on Robot Learning 2020, 2020 (inproceedings)

Abstract
Trajectory optimizers for model-based reinforcement learning, such as the Cross-Entropy Method (CEM), can yield compelling results even in high-dimensional control tasks and sparse-reward environments. However, their sampling inefficiency prevents them from being used for real-time planning and control. We propose an improved version of the CEM algorithm for fast planning, with novel additions including temporally-correlated actions and memory, requiring 2.7-22x less samples and yielding a performance increase of 1.2-10x in high-dimensional control problems.

Paper Code Spotlight-Video link (url) Project Page [BibTex]

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Learning to Adapt Multi-View Stereo by Self-Supervision

Mallick, A., Stückler, J., Lensch, H.

In Proceedings of the British Machine Vision Conference (BMVC), 2020, preprint https://arxiv.org/abs/2009.13278 (inproceedings)

link (url) Project Page [BibTex]

Mallick, A., Stückler, J., Lensch, H. Learning to Adapt Multi-View Stereo by Self-Supervision In Proceedings of the British Machine Vision Conference (BMVC), 2020, preprint https://arxiv.org/abs/2009.13278 (inproceedings)

link (url) Project Page [BibTex]

2019

{EM}-Fusion: Dynamic Object-Level SLAM With Probabilistic Data Association
EM-Fusion: Dynamic Object-Level SLAM With Probabilistic Data Association

Strecke, M., Stückler, J.

In Proceedings IEEE/CVF International Conference on Computer Vision 2019 (ICCV), pages: 5864-5873, IEEE, 2019 IEEE/CVF International Conference on Computer Vision (ICCV), October 2019 (inproceedings)

preprint Project page Code Poster DOI Project Page [BibTex]

2019

Strecke, M., Stückler, J. EM-Fusion: Dynamic Object-Level SLAM With Probabilistic Data Association In Proceedings IEEE/CVF International Conference on Computer Vision 2019 (ICCV), pages: 5864-5873, IEEE, 2019 IEEE/CVF International Conference on Computer Vision (ICCV), October 2019 (inproceedings)

preprint Project page Code Poster DOI Project Page [BibTex]

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Learning to Disentangle Latent Physical Factors for Video Prediction

Zhu, D., Munderloh, M., Rosenhahn, B., Stückler, J.

In Pattern Recognition - Proceedings German Conference on Pattern Recognition (GCPR), Springer International, German Conference on Pattern Recognition (GCPR), September 2019 (inproceedings)

dataset & evaluation code video preprint DOI Project Page [BibTex]

Zhu, D., Munderloh, M., Rosenhahn, B., Stückler, J. Learning to Disentangle Latent Physical Factors for Video Prediction In Pattern Recognition - Proceedings German Conference on Pattern Recognition (GCPR), Springer International, German Conference on Pattern Recognition (GCPR), September 2019 (inproceedings)

dataset & evaluation code video preprint DOI Project Page [BibTex]