2023
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)
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)
Ma, H., Büchler, D., Schölkopf, B., Muehlebach, M.
Reinforcement learning with model-based feedforward inputs for robotic table tennis
Autonomous Robots, 47, 2023 (article)
Tong, G., Muehlebach, M.
A Dynamical Systems Perspective on Discrete Optimization
Conference on Learning for Dynamics and Control, 2023 (conference)
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)
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)
Muehlebach, M.
Adaptive Decision-Making with Constraints and Dependent Losses: Performance Guarantees and Applications to Online and Nonlinear Identification
IFAC World Congress, 2023 (conference)
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)
2022
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), 35, 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 Annual Conference on Neural Information Processing Systems, December 2022 (conference)
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), (Editors: Kris Hauser, Dylan Shell, and Shoudong Huang), June 2022 (conference)
Muehlebach, M., Jordan, M. I.
On Constraints in First-Order Optimization: A View from Non-Smooth Dynamical Systems
Journal of Machine Learning Research, 2022 (article)
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)
2021
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)
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)
2020
Muehlebach, M., Jordan, M. I.
Continuous-time Lower Bounds for Gradient-based Algorithms
In Proceedings of the International Conference on Machine Learning, 2020 (inproceedings)
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
2019
Muehlebach, M.
The Silver Ratio and its Relation to Controllability
2019 (techreport)
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)
Muehlebach, M., Jordan, M. I.
A Dynamical Systems Perspective on Nesterov Acceleration
In Proceedings of the International Conference on Machine Learning, 2019 (inproceedings)
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)
2018
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)
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)
2017
Muehlebach, M., D’Andrea, R.
The Flying Platform - A Testbed for Ducted Fan Actuation and Control Design
Mechatronics, 2017 (article)
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)
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)
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)
2016
Muehlebach, M., Heimsch, T., Glocker, C.
Variational Integrators - A Continuous Time Approach
International Journal for Numerical Methods in Engineering, 2016 (article)
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)
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)
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)
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)
2015
Muehlebach, M., Trimpe, S.
LMI-Based Synthesis for Distributed Event-Based State Estimation
In Proceedings of the American Control Conference, July 2015 (inproceedings)
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)
2014
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)
2013
Gajamohan, M., Muehlebach, M., Widmer, T., D’Andrea, R.
The Cubli: A Reaction Wheel-based 3D Inverted Pendulum
In Proceedings of the European Control Conference, 2013 (inproceedings)
Muehlebach, M., Gajamohan, M., D’Andrea, R.
Nonlinear Analysis and Control of a Reaction Wheel-based 3D Inverted Pendulum
In Proceedings of the International Conference on Decision and Control, 2013 (inproceedings)