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Empirical Inference Conference Paper Declarative Reactive Robot Behaviors from Imperative Language Models Berenz, V., Kim, T., Schölkopf, B. In IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2026), August 2026 (Accepted) BibTeX
Empirical Inference Conference Paper Riemannian Networks over Full-Rank Correlation Matrices Chen, Z., Wu, X., Schölkopf, B., Sebe, N. In Proceedings of the 43rd International Conference on Machine Learning (ICML), International Conference on Machine Learning, July 2026 (Accepted) arXiv BibTeX
Empirical Inference Conference Paper Hyperbolic Busemann Neural Networks Chen, Z., Schölkopf, B., Sebe, N. In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 42029-42038, June 2026 (Published) PDF Supplemental URL BibTeX
Empirical Inference Conference Paper Forecasting in Offline Reinforcement Learning for Non-stationary Environments Ada, S. E., Martius, G., Ugur, E., Oztop, E. In Advances in Neural Information Processing Systems 38 (NeurIPS 2025), 38:8002-8024, (Editors: D. Belgrave and C. Zhang and H. Lin and R. Pascanu and P. Koniusz and M. Ghassemi and N. Chen), Curran Associates, Inc., 39th Annual Conference on Neural Information Processing Systems, December 2025 (Published) arXiv URL BibTeX
Haptic Intelligence Autonomous Learning Empirical Inference Conference Paper Adding Internal Audio Sensing to Internal Vision Enables Human-Like In-Hand Fabric Recognition with Soft Robotic Fingertips Andrussow, I., Solano, J., Richardson, B. A., Martius, G., Kuchenbecker, K. J. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 373-380, Seoul, South Korea, September 2025 (Published) DOI BibTeX
Empirical Inference Conference Paper Active Fine-Tuning of Multi-Task Policies Bagatella, M., Hübotter, J., Martius, G., Krause, A. In Proceedings of the 42nd International Conference on Machine Learning (ICML), 267:2409-2441, Proceedings of Machine Learning Research, (Editors: Singh, Aarti and Fazel, Maryam and Hsu, Daniel and Lacoste-Julien, Simon and Berkenkamp, Felix and Maharaj, Tegan and Wagstaff, Kiri and Zhu, Jerry), PMLR, International Conference on Machine Learning, July 2025 (Published) arXiv URL BibTeX
Empirical Inference Autonomous Learning Conference Paper SENSEI: Semantic Exploration Guided by Foundation Models to Learn Versatile World Models Sancaktar, C., Gumbsch, C., Zadaianchuk, A., Kolev, P., Martius, G. In Proceedings of the 42nd International Conference on Machine Learning (ICML), 267:52745-52777, Proceedings of Machine Learning Research, (Editors: Singh, Aarti and Fazel, Maryam and Hsu, Daniel and Lacoste-Julien, Simon and Berkenkamp, Felix and Maharaj, Tegan and Wagstaff, Kiri and Zhu, Jerry), International Conference on Machine Learning , July 2025 (Published) arXiv Project website URL BibTeX
Autonomous Learning Empirical Inference Conference Paper Zero-Shot Offline Imitation Learning via Optimal Transport Rupf, T., Bagatella, M., Gürtler, N., Frey, J., Martius, G. In Proceedings of the 42nd International Conference on Machine Learning (ICML), 267:52345-52381, Proceedings of Machine Learning Research, (Editors: Singh, Aarti and Fazel, Maryam and Hsu, Daniel and Lacoste-Julien, Simon and Berkenkamp, Felix and Maharaj, Tegan and Wagstaff, Kiri and Zhu, Jerry), PMLR, International Conference on Machine Learning, July 2025 (Published) arXiv URL BibTeX
Empirical Inference Conference Paper Temporally Consistent Object-Centric Learning by Contrasting Slots Manasyan, A., Seitzer, M., Radovic, F., Martius, G., Zadaianchuk, A. In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 5401-5411, June 2025 (Published) DOI BibTeX
Empirical Inference Conference Paper VERA: Explainable Video Anomaly Detection via Verbalized Learning of Vision-Language Models Ye, M., Liu, W., He, P. In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 8679-8688, June 2025 (Published) DOI BibTeX
Empirical Inference Perceiving Systems Conference Paper ChatHuman: Chatting about 3D Humans with Tools Lin, J., Feng, Y., Liu, W., Black, M. J. In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 8150-8161, June 2025 (Published) project pdf Paper DOI BibTeX
Deep Models and Optimization Conference Paper Geometric Inductive Biases of Deep Networks: The Role of Data and Architecture Movahedi, S., Orvieto, A., Moosavi-Dezfooli, S. In The Thirteenth International Conference on Learning Representations, ICLR 2025, The Thirteenth International Conference on Learning Representations, January 2025 (Accepted) BibTeX
Robust Machine Learning Conference Paper Cross-Entropy Is All You Need To Invert the Data Generating Process Reizinger, P., Bizeul, A., Juhos, A., Vogt, J. E., Balestriero, R., Brendel, W., Klindt, D. In January 2025 (Published) OpenReview BibTeX
Robust Machine Learning Conference Paper Identifiable Exchangeable Mechanisms for Causal Structure and Representation Learning Reizinger, P., Guo, S., Huszár, F., Schölkopf, B., Brendel, W. In January 2025 (Published) OpenReview BibTeX
Robust Machine Learning Conference Paper In Search of Forgotten Domain Generalization Mayilvahanan, P., Zimmermann, R. S., Wiedemer, T., Rusak, E., Juhos, A., Bethge, M., Brendel, W. In January 2025 (Published) OpenReview BibTeX
Robust Machine Learning Conference Paper Interaction Asymmetry: A General Principle for Learning Composable Abstractions Brady, J., von Kügelgen, J., Lachapelle, S., Buchholz, S., Kipf, T., Brendel, W. In January 2025 (Published) OpenReview BibTeX
Deep Models and Optimization Conference Paper Using Shapley interactions to understand how models use structure Divyansh Singhvi, D. M. A. E. R. J. I. P. N. S. In Proceedings ACL, 1-20, Vienna Center, Association for Computational Linguistics (ACL 2025), 2025 (Accepted) DOI URL BibTeX
Safety- and Efficiency- aligned Learning Conference Paper Efficiently Dispatching Flash Attention For Partially Filled Attention Masks Sharma, A., Geiping, J. In ENSLP NeurIPS Workshop 2024, ENSLP NeurIPS Workshop 2024, ENSLP NeurIPS Workshop, December 2024 (Published) URL BibTeX
Deep Models and Optimization Conference Paper Adaptive Methods through the Lens of SDEs: Theoretical Insights on the Role of Noise Monzio Compagnoni, E., Liu, T., Islamov, R., Proske, F. N., Orvieto, A., Lucchi, A. In The Thirteenth International Conference on Learning Representations, ICLR 2025, The Thirteenth International Conference on Learning Representations, November 2024 (Accepted) BibTeX
Deep Models and Optimization Conference Paper Loss Landscape Characterization of Neural Networks without Over-Parametrization Islamov, R., Ajroldi, N., Orvieto, A., Lucchi, A. In Proceedings of the Thirty-Eighth Annual Conference on Neural Information Processing Systems, Thirty-Eighth Annual Conference on Neural Information Processing Systems, October 2024 (Published) URL BibTeX
Deep Models and Optimization Conference Paper Recurrent neural networks: vanishing and exploding gradients are not the end of the story Zucchet, N., Orvieto, A. In Proceedings of the Thirty-Eighth Annual Conference on Neural Information Processing Systems, Thirty-Eighth Annual Conference on Neural Information Processing Systems, October 2024 (Published) URL BibTeX
Deep Models and Optimization Conference Paper Theoretical Foundations of Deep Selective State-Space Models Muca Cirone, N., Orvieto, A., Walker, B., Salvi, C., Lyons, T. In Proceedings of the Thirty-Eighth Annual Conference on Neural Information Processing Systems, Thirty-Eighth Annual Conference on Neural Information Processing Systems, October 2024 (Published) URL BibTeX
Deep Models and Optimization Conference Paper Understanding the differences in Foundation Models: Attention, State Space Models, and Recurrent Neural Networks Sieber, J., Amo Alonso, C., Didier, A., Zeilinger, M., Orvieto, A. In Proceedings of the Thirty-Eighth Annual Conference on Neural Information Processing Systems, Thirty-Eighth Annual Conference on Neural Information Processing Systems, October 2024 (Published) URL BibTeX
Empirical Inference Autonomous Learning Conference Paper Learning to Control Emulated Muscles in Real Robots: A Software Test Bed for Bio-Inspired Actuators in Hardware Schumacher, P., Krause, L., Schneider, J., Büchler, D., Martius, G., Haeufle, D. In Proceedings 10th International Conference on Biomedical Robotics and Biomechatronics (BioRob), 806-813, IEEE, 10th International Conference on Biomedical Robotics and Biomechatronics (BioRob), September 2024 (Published) arXiv DOI URL BibTeX
Robust Machine Learning Conference Paper Measuring Per-Unit Interpretability at Scale Without Humans Klindt, D., Zimmermann, R., Brendel, W. In September 2024 (Published) OpenReview BibTeX
Robust Machine Learning Conference Paper Rule Extrapolation in Language Models: A Study of Compositional Generalization on OOD Prompts Mészáros, A., Ujváry, S., Brendel, W., Reizinger, P., Huszár, F. In September 2024 (Published) ArXiv BibTeX
Robust Machine Learning Conference Paper InfoNCE: Identifying the Gap Between Theory and Practice Rusak, E., Reizinger, P., Juhos, A., Bringmann, O., Zimmermann, R. S., Brendel, W. In July 2024 (Published) BibTeX
Deep Models and Optimization Conference Paper Universality of Linear Recurrences Followed by Non-linear Projections: Finite-Width Guarantees and Benefits of Complex Eigenvalues Orvieto, A., De, S., Gulcehre, C., Pascanu, R., Smith, S. L. In Proceedings of Machine Learning Research, Proceedings of the Forty-First International Conference on Machine Learning , Forty-First International Conference on Machine Learning , June 2024 (Published) URL BibTeX
Robust Machine Learning Conference Paper Does CLIP’s Generalization Performance Mainly Stem from High Train-Test Similarity? Mayilvahanan, P., Wiedemer, T., Rusak, E., Bethge, M., Brendel, W. In June 2024 (Published) ArXiv BibTeX
Robust Machine Learning Conference Paper Don’t trust your eyes: on the (un) reliability of feature visualizations Geirhos, R., Zimmermann, R. S., Bilodeau, B., Brendel, W., Kim, B. In June 2024 (Published) ArXiv BibTeX
Perceiving Systems Empirical Inference Conference Paper Ghost on the Shell: An Expressive Representation of General 3D Shapes Liu, Z., Feng, Y., Xiu, Y., Liu, W., Paull, L., Black, M. J., Schölkopf, B. In Proceedings of the Twelfth International Conference on Learning Representations (ICLR), The Twelfth International Conference on Learning Representations (ICLR), May 2024 (Published) Home Code Video Project BibTeX
Empirical Inference Perceiving Systems Conference Paper Parameter-Efficient Orthogonal Finetuning via Butterfly Factorization Liu, W., Qiu, Z., Feng, Y., Xiu, Y., Xue, Y., Yu, L., Feng, H., Liu, Z., Heo, J., Peng, S., et al. In Proceedings of the Twelfth International Conference on Learning Representations (ICLR), The Twelfth International Conference on Learning Representations, May 2024 (Published) Home Code HuggingFace project URL BibTeX
Empirical Inference Autonomous Learning Conference Paper The Expressive Leaky Memory Neuron: an Efficient and Expressive Phenomenological Neuron Model Can Solve Long-Horizon Tasks Spieler, A., Rahaman, N., Martius, G., Schölkopf, B., Levina, A. In The Twelfth International Conference on Learning Representations (ICLR), May 2024 (Published) arXiv BibTeX
Deep Models and Optimization Conference Paper Recurrent Distance Filtering for Graph Representation Learning Ding, Y., Orvieto, A., He, B., Hofmann, T. In PMLR, ICML, January 2024 (Published) URL BibTeX
Deep Models and Optimization Conference Paper Super Consistency of Neural Network Landscapes and Learning Rate Transfer Noci, L., Meterez, A., Hofmann, T., Orvieto, A. In Proceedings of the Thirty-Eighth Annual Conference on Neural Information Processing Systems, Thirty-Eighth Annual Conference on Neural Information Processing Systems, January 2024 (Published) URL BibTeX
Social Foundations of Computation Algorithms and Society Conference Paper Causal Inference out of Control: Estimating Performativity without Treatment Randomization Cheng, G., Hardt, M., Mendler-Dünner, C. In Proceedings of the 41st International Conference on Machine Learning (ICML 2024), PMLR, The Forty-First International Conference on Machine Learning (ICML), January 2024 (Published) ArXiv URL BibTeX
Robust Machine Learning Conference Paper Effective pruning of web-scale datasets based on complexity of concept clusters Abbas, A., Rusak, E., Tirumala, K., Brendel, W., Chaudhuri, K., Morcos, A. S. In January 2024 (Published) ArXiv BibTeX
Safety- and Efficiency- aligned Learning Conference Paper Be like a Goldfish, Don’t Memorize! Mitigating Memorization in Generative LLMs Hans, A., Wen, Y., Jain, N., Kirchenbauer, J., Kazemi, H., Singhania, P., Singh, S., Somepalli, G., Geiping, J., Bhatele, A., et al. In Proceedings of the Thirty-Eighth Annual Conference on Neural Information Processing Systems, Thirty-Eighth Annual Conference on Neural Information Processing Systems, 2024 (Published) URL BibTeX
Safety- and Efficiency- aligned Learning Conference Paper Bring Your Own Data! Self-Sensitivity Evaluation for Large Language Models Jain, N., Saifullah, K., Wen, Y., Kirchenbauer, J., Shu, M., Saha, A., Goldblum, M., Geiping, J., Goldstein, T. In Proceedings of the First Conference on Language Modeling, First Conference on Language Modeling, 2024 (Published) URL BibTeX
Safety- and Efficiency- aligned Learning Conference Paper CALVIN: Improved Contextual Video Captioning via Instruction Tuning Somepalli, G., Chowdhury, A., Geiping, J., Basri, R., Goldstein, T., Jacobs, D. W. In Proceedings of the Thirty-Eighth Annual Conference on Neural Information Processing Systems, Thirty-Eighth Annual Conference on Neural Information Processing Systems, 2024 (Published) URL BibTeX
Empirical Inference Conference Paper DeViL: Decoding Vision features into Language Dani, M., Rio-Torto, I., Alaniz, S., Akata, Z. In Lecture Notes in Computer Science, vol 14264, 363–377, 45th Annual Conference of the German-Association-for-Pattern-Recognition (DAGM GCPR), 2024 (Published) DOI URL BibTeX
Safety- and Efficiency- aligned Learning Conference Paper Investigating Style Similarity in Diffusion Models Somepalli, G., Gupta, A., Gupta, K., Palta, S., Goldblum, M., Geiping, J., Shrivastava, A., Goldstein, T. In European Conference on Computer Vision (ECCV 2024), LNCS, Springer Cham, 2024 (Published) URL BibTeX
Safety- and Efficiency- aligned Learning Conference Paper LMD3: Language Model Data Density Dependence Kirchenbauer, J., Honke, G., Somepalli, G., Geiping, J., Lee, K., Ippolito, D., Goldstein, T., Andre, D. In Proceedings of the First Conference on Language Modeling, First Conference on Language Modeling, 2024 (Published) URL BibTeX
Safety- and Efficiency- aligned Learning Conference Paper Object Recognition as Next Token Prediction Yue, K., Chen, B., Geiping, J., Li, H., Goldstein, T., Lim, S. In IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR), CVPR, 2024 (Published) DOI URL BibTeX
Safety- and Efficiency- aligned Learning Conference Paper On the Reliability of Watermarks for Large Language Models Kirchenbauer, J., Geiping, J., Wen, Y., Shu, M., Saifullah, K., Kong, K., Fernando, K., Saha, A., Goldblum, M., Goldstein, T. In The Twelfth International Conference on Learning Representations, ICLR 2024, The Twelfth International Conference on Learning Representations, 2024 (Published) URL BibTeX
Safety- and Efficiency- aligned Learning Conference Paper Privacy Backdoors: Enhancing Membership Inference through Poisoning Pre-trained Models Wen, Y., Marchyok, L., Hong, S., Geiping, J., and Goldstein, T., Carlini, N. In Proceedings of the Thirty-Eighth Annual Conference on Neural Information Processing Systems, Thirty-Eighth Annual Conference on Neural Information Processing Systems, 2024 (Published) URL BibTeX
Safety- and Efficiency- aligned Learning Conference Paper Spotting LLMs With Binoculars: Zero-Shot Detection of Machine-Generated Text Hans, A., Schwarzschild, A., Cherepanova, V., Kazemi, H., Saha, A., Goldblum, M., Geiping, J., Goldstein, T. In Proceedings of Machine Learning Research, Proceedings of the Forty-First International Conference on Machine Learning , Forty-First International Conference on Machine Learning , 2024 (Published) URL BibTeX
Safety- and Efficiency- aligned Learning Conference Paper Transformers Can Do Arithmetic with the Right Embeddings McLeish, S. M., Bansal, A., Stein, A., Jain, N., Kirchenbauer, J., Bartoldson, B. R., Kailkhura, B., Bhatele, A., Geiping, J., Schwarzschild, A., et al. In Proceedings of the Thirty-Eighth Annual Conference on Neural Information Processing Systems, Thirty-Eighth Annual Conference on Neural Information Processing Systems, 2024 (Published) URL BibTeX
Empirical Inference Conference Paper Waffling around for Performance: Visual Classification with Random Words and Broad Concepts Roth, K., Kim, J. M., Koepke, A. S., Vinyals, O., Schmid, C., Akata, Z. In Proceedings 2023 IEEE/CVF INTERNATIONAL CONFERENCE ON COMPUTER VISION (ICCV 2023), 15700-15711, 2023 IEEE/CVF INTERNATIONAL CONFERENCE ON COMPUTER VISION (ICCV 2023), 2024 (Published) DOI URL BibTeX
Empirical Inference Conference Paper Optimistic Active Exploration of Dynamical Systems Sukhija, B., Treven, L., Sancaktar, C., Blaes, S., Coros, S., Krause, A. In Advances in Neural Information Processing Systems 36 (NeurIPS 2023), 1-32, Curran Associates Inc. , NeurIPS, December 2023 (Published) DOI URL BibTeX