Guist, S., Schneider, J., Ma, H., Chen, L., Berenz, V., Martus, J., Ott, H., Grüninger, F., Muehlebach, M., Fiene, J., Schölkopf, B., Büchler, D. Safe & Accurate at Speed with Tendons: A Robot Arm for Exploring Dynamic Motion Proceedings of Robotics: Science and Systems, July 2024 (conference)

arXiv Project Page link (url) DOI [BibTex]

Kladny, K., Kügelgen, J. V., Schölkopf, B., Muehlebach, M. Deep Backtracking Counterfactuals for Causally Compliant Explanations Transactions on Machine Learning Research, July 2024 (article)

arXiv link (url) [BibTex]

Zughaibi, J., Nelson, B. J., Muehlebach, M. Balancing a 3D Inverted Pendulum using Remote Magnetic Manipulation Robotics and Automation Letters, 2024 (article) In revision

link (url) [BibTex]

Wundram, A., Fischer, P., Muehlebach, M., Koch, L., Baumgartner, C. Conformal Performance Range Prediction for Segmentation Output Quality Control International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2024 (conference) Submitted

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Fischer, P., Willms, H., Muehlebach, M., Thorwarth, D., Schneider, M., Baumgartner, C. Subgroup-Specific Risk-Controlled Dose Estimation in Radiotherapy International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2024 (conference)

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Florian Dörfler, Zhiyu He, Giuseppe Belgioioso, Saverio Bolognani, John Lygeros, Michael Muehlebach Towards a systems theory of algorithms IEEE Control System Letters, 2024 (article)

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Kolev, P., Martius, G., Muehlebach, M. Online learning under adversarial nonlinear constraints In Advances in Neural Information Processing Systems 36, 2024 (inproceedings)

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Eberhard, O., Vernade, C., Muehlebach, M. A Pontryagin Perspective on Reinforcement Learning Max Planck Institute for Intelligent Systems, 2024 (techreport)

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Ma, H., Zeilinger, M., Muehlebach, M. Stochastic Online Optimization for Cyber-Physical and Robotic Systems Machine Learning, 2024 (article) Submitted

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Er, D., Trimpe, S., Muehlebach, M. Distributed Event-Based Learning via ADMM Max Planck Institute for Intelligent Systems, 2024 (techreport)

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He, Z., Bolognani, S., Muehlebach, M., Dörfler, F. Gray-box nonlinear feedback optimization IEEE Transactions on Automatic Control, 2024 (article) Submitted

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Muehlebach, M., Jordan, M. I. Accelerated First-Order Optimization under Nonlinear Constraints Mathematical Programming, 2024 (article) Submitted

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Zhang, L., He, N., Muehlebach, M. Primal Methods for Variational Inequality Problems with Functional Constraints Mathematical Programming, 2024 (article) Submitted

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Guist, S., Schneider, J., Ma, H., Berenz, V., Martus, J., Grüninger, F., Muehlebach, M., Fiene, J., Schölkopf, B., Büchler, B. A Robust Open-source Tendon-driven Robot Arm for Learning Control of Dynamic Motions RoboLetics: Workshop on Robot Learning in Athletics @CoRL 2023, November 2023 (conference)

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Kladny, K., von Kügelgen, J., Schölkopf, B., Muehlebach, M. Causal Effect Estimation from Observational and Interventional Data Through Matrix Weighted Linear Estimators Proceedings of the Thirty-Ninth Conference on Uncertainty in Artificial Intelligence (UAI), 216, pages: 1087-1097, Proceedings of Machine Learning Research, (Editors: Evans, Robin J. and Shpitser, Ilya), PMLR, August 2023 (conference)

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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]

Kladny, K. CausalEffect Estimation by Combining Observational and Interventional Data ETH Zurich, Switzerland, February 2023 (mastersthesis)

[BibTex]

Ma, H., Büchler, D., Schölkopf, B., Muehlebach, M. Reinforcement learning with model-based feedforward inputs for robotic table tennis Autonomous Robots, 47, 2023 (article)

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Tong, G., Muehlebach, M. A Dynamical Systems Perspective on Discrete Optimization Conference on Learning for Dynamics and Control, 2023 (conference)

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Hofer, M., Muehlebach, M., D’Andrea, R. The One-Wheel Cubli: A 3D inverted pendulum that can balance with a single reaction wheel Mechatronics, 91, 2023 (article)

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Tobuschat, P., Ma, H., Büchler, D., Schölkopf, B., Muehlebach, M. Data-Efficient Online Learning of Ball Placement in Robot Table Tennis EEE/RSJ International Conference on Intelligent Robots and Systems, 2023 (conference)

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Muehlebach, M. Adaptive Decision-Making with Constraints and Dependent Losses: Performance Guarantees and Applications to Online and Nonlinear Identification IFAC World Congress, 2023 (conference)

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Schechtman, S., Tiapkin, D., Muehlebach, M., Moulines, E. Orthogonal Directions Constrained Gradient Method: from Non-Linear Equality Constraints to Stiefel Manifold Conference on Learning Theory, 2023 (conference)

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Das, A., Schölkopf, B., Muehlebach, M. Sampling without Replacement Leads to Faster Rates in Finite-Sum Minimax Optimization Advances in Neural Information Processing Systems 35 (NeurIPS 2022), pages: 6749-6762, (Editors: S. Koyejo and S. Mohamed and A. Agarwal and D. Belgrave and K. Cho and A. Oh), Curran Associates, Inc., 36th Conference on Neural Information Processing Systems (NeurIPS 2022) , December 2022 (conference)

arXiv link (url) [BibTex]

Ma, H., Büchler, D., Schölkopf, B., Muehlebach, M. A Learning-based Iterative Control Framework for Controlling a Robot Arm with Pneumatic Artificial Muscles Proceedings of Robotics: Science and Systems XVIII (R:SS 2022), 18, (Editors: Kris Hauser, Dylan Shell, and Shoudong Huang), Robotics: Science and Systems XVIII, June 2022 (conference)

PDF link (url) DOI [BibTex]

Muehlebach, M., Jordan, M. I. On Constraints in First-Order Optimization: A View from Non-Smooth Dynamical Systems Journal of Machine Learning Research, 23, 2022 (article)

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Schechtman, S., Tiapkin, D., Moulines, E., Muehlebach, M. First-order Constrained Optimization: Non-smooth Dynamical System Viewpoint IFAC Workshop on Control Applications of Optimization, 2022 (conference)

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Wadia, N. S., Jordan, M. I., Muehlebach, M. Optimization with Adaptive Step Size Selection from a Dynamical Systems Perspective OPT2021 Workshop, Conference on Neural Information Processing Systems, Thirty-fifth Conference on Neural Information Processing Systems, 2021 (conference)

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Muehlebach, M., Jordan, M. I. Optimization with Momentum: Dynamical, Control-Theoretic, and Symplectic Perspectives Journal of Machine Learning Research, 22(73):1-50, 2021 (article)

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Muehlebach, M., Jordan, M. I. Continuous-time Lower Bounds for Gradient-based Algorithms In Proceedings of the International Conference on Machine Learning, 2020 (inproceedings)

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Sferrazza, C., Muehlebach, M., D’Andrea, R. Learning-based parametrized model predictive control for trajectory tracking Optimal Control Application and Methods, 41(6):2225-2249, 2020 (article) In preparation

DOI [BibTex]

Muehlebach, M. The Silver Ratio and its Relation to Controllability 2019 (techreport)

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Muehlebach, M., D’Andrea, R. A Method for Reducing the Complexity of Model Predictive Control in Robotics Applications IEEE Robotics and Automation Letters, 2019, 2019 (article)

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Muehlebach, M., Jordan, M. I. A Dynamical Systems Perspective on Nesterov Acceleration In Proceedings of the International Conference on Machine Learning, 2019 (inproceedings)

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Erichson, N. B., M. Muehlebach, , Mahoney, M. Physics-informed Autoencoders for Lyapunov-stable Fluid Flow Prediction In Machine Learning and the Physical Sciences Workshop, Conference on Neural Information Processing Systems, 2019 (inproceedings)

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Muehlebach, M., Trimpe, S. Distributed Event-Based State Estimation for Networked Systems: An LMI Approach IEEE Transactions on Automatic Control, 63(1):269-276, January 2018 (article)

arXiv (extended version) DOI Project Page [BibTex]

Muehlebach, M., D’Andrea, R. On the Approximation of Constrained Linear Quadratic Regulator Problems and their Application to Model Predictive Control 2018 (techreport)

link (url) [BibTex]

Muehlebach, M., D’Andrea, R. Accelerometer-Based Tilt Determination for Rigid Bodies with a Non-Accelerated Pivot Point IEEE Transactions on Control Systems Technology, 2018 (article)

[BibTex]

Muehlebach, M., D’Andrea, R. The Flying Platform - A Testbed for Ducted Fan Actuation and Control Design Mechatronics, 2017 (article)

[BibTex]

Muehlebach, M., D’Andrea, R. Basis Functions Design for the Approximation of Constrained Linear Quadratic Regulator Problems Encountered in Model Predictive Control In Proceedings of the International Conference on Decision and Control, 2017 (inproceedings)

[BibTex]

Sferrazza, C., Muehlebach, M., D’Andrea, R. Trajectory Tracking and Iterative Learning on an Unmanned Aerial Vehicle using Parametrized Model Predictive Control In Proceedings of the International Conference on Decision and Control, 2017 (inproceedings)

[BibTex]

Muehlebach, M., Sferrazza, C., D’Andrea, R. Implementation of a Parametrized Infinite-Horizon Model Predictive Control Scheme with Stability Guarantees In Proceedings of the International Conference on Robotics and Automation, 2017 (inproceedings)

[BibTex]

Muehlebach, M., Heimsch, T., Glocker, C. Variational Integrators - A Continuous Time Approach International Journal for Numerical Methods in Engineering, 2016 (article)

[BibTex]

Muehlebach, M., D’Andrea, R. Nonlinear Analysis and Control of a Reaction Wheel-based 3-D Inverted Pendulum IEEE Transactions on Control Systems Technology, 25(1): 235-246, 2016 (article)

[BibTex]

Muehlebach, M., D’Andrea, R. Approximation of Continuous-Time Infinite-Horizon Optimal Control Problems Arising in Model Predictive Control In Proceedings of the International Conference on Decision and Control, 2016 (inproceedings)

[BibTex]

Hofer, M., Muehlebach, M., D’Andrea, R. Application of an Approximate Model Predictive Control Scheme on an Unmanned Aerial Vehicle In Proceedings of the Conference on Robotics and Automation, 2016 (inproceedings)

[BibTex]

Muehlebach, M., D’Andrea, R. Parametrized Infinite-horizon Model Predictive Control for Linear Time-invariant Systems with Input and State Constraints In Proceedings of the American Control Conference, 2016 (inproceedings)

[BibTex]

Muehlebach, M., Trimpe, S. LMI-Based Synthesis for Distributed Event-Based State Estimation In Proceedings of the American Control Conference, July 2015 (inproceedings)

PDF DOI Project Page [BibTex]

Muehlebach, M., Trimpe, S. Guaranteed H2 Performance in Distributed Event-Based State Estimation In Proceeding of the First International Conference on Event-based Control, Communication, and Signal Processing, June 2015 (inproceedings)

PDF DOI Project Page [BibTex]

Maes, H., Vandersteen, G., Muehlebach, M., Ionescu, C. A Fan-based Low-frequent Forced Oscillation Technique Apparatus IEEE Transactions on Instrumentation and Measurements, 2014 (article)

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