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BeBold: Exploration Beyond the Boundary of Explored Regions


Dec 15, 2020
Tianjun Zhang, Huazhe Xu, Xiaolong Wang, Yi Wu, Kurt Keutzer, Joseph E. Gonzalez, Yuandong Tian


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Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation


Nov 12, 2020
Samuel Paradis, Minho Hwang, Brijen Thananjeyan, Jeffrey Ichnowski, Daniel Seita, Danyal Fer, Thomas Low, Joseph E. Gonzalez, Ken Goldberg

* 6 pages, 5 figures, 4 tables, submitted to ICRA 2021, supplementary material at https://tinyurl.com/ivs-icra 

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Untangling Dense Knots by Learning Task-Relevant Keypoints


Nov 10, 2020
Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Minho Hwang, Vainavi Viswanath, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg

* 4th Conference on Robot Learning (CoRL 2020) 
* Conference on Robot Learning (CoRL) 2020 Oral. First two authors contributed equally 

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Resource Allocation in Multi-armed Bandit Exploration: Overcoming Nonlinear Scaling with Adaptive Parallelism


Oct 31, 2020
Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph E. Gonzalez

* Preprint. Under review 

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Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones


Oct 29, 2020
Brijen Thananjeyan, Ashwin Balakrishna, Suraj Nair, Michael Luo, Krishnan Srinivasan, Minho Hwang, Joseph E. Gonzalez, Julian Ibarz, Chelsea Finn, Ken Goldberg

* First two authors contributed equally 

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A Statistical Framework for Low-bitwidth Training of Deep Neural Networks


Oct 27, 2020
Jianfei Chen, Yu Gai, Zhewei Yao, Michael W. Mahoney, Joseph E. Gonzalez

* 24 pages 

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Multi-Agent Collaboration via Reward Attribution Decomposition


Oct 16, 2020
Tianjun Zhang, Huazhe Xu, Xiaolong Wang, Yi Wu, Kurt Keutzer, Joseph E. Gonzalez, Yuandong Tian


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MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects


Oct 09, 2020
Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Ryan Hoque, Joseph E. Gonzalez, Ken Goldberg

* IROS 2020 Workshop on Managing Deformation: A Step Towards Higher Robot Autonomy 

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Remembering for the Right Reasons: Explanations Reduce Catastrophic Forgetting


Oct 04, 2020
Sayna Ebrahimi, Suzanne Petryk, Akash Gokul, William Gan, Joseph E. Gonzalez, Marcus Rohrbach, Trevor Darrell


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A Review of Single-Source Deep Unsupervised Visual Domain Adaptation


Sep 19, 2020
Sicheng Zhao, Xiangyu Yue, Shanghang Zhang, Bo Li, Han Zhao, Bichen Wu, Ravi Krishna, Joseph E. Gonzalez, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, Kurt Keutzer


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Benchmarking Semi-supervised Federated Learning


Aug 26, 2020
Zhengming Zhang, Zhewei Yao, Yaoqing Yang, Yujun Yan, Joseph E. Gonzalez, Michael W. Mahoney


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Boundary thickness and robustness in learning models


Jul 09, 2020
Yaoqing Yang, Rajiv Khanna, Yaodong Yu, Amir Gholami, Kurt Keutzer, Joseph E. Gonzalez, Kannan Ramchandran, Michael W. Mahoney


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Contrastive Code Representation Learning


Jul 09, 2020
Paras Jain, Ajay Jain, Tianjun Zhang, Pieter Abbeel, Joseph E. Gonzalez, Ion Stoica


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BEV-Seg: Bird's Eye View Semantic Segmentation Using Geometry and Semantic Point Cloud


Jun 23, 2020
Mong H. Ng, Kaahan Radia, Jianfei Chen, Dequan Wang, Ionel Gog, Joseph E. Gonzalez

* Accepted into CVPR 2020 Workshop Scalability in Autonomous Driving by Waymo 

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Ansor : Generating High-Performance Tensor Programs for Deep Learning


Jun 15, 2020
Lianmin Zheng, Chengfan Jia, Minmin Sun, Zhao Wu, Cody Hao Yu, Ameer Haj-Ali, Yida Wang, Jun Yang, Danyang Zhuo, Koushik Sen, Joseph E. Gonzalez, Ion Stoica


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SegNBDT: Visual Decision Rules for Segmentation


Jun 11, 2020
Alvin Wan, Daniel Ho, Younjin Song, Henk Tillman, Sarah Adel Bargal, Joseph E. Gonzalez

* 8 pages, 8 figures 

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FBNetV3: Joint Architecture-Recipe Search using Neural Acquisition Function


Jun 07, 2020
Xiaoliang Dai, Alvin Wan, Peizhao Zhang, Bichen Wu, Zijian He, Zhen Wei, Kan Chen, Yuandong Tian, Matthew Yu, Peter Vajda, Joseph E. Gonzalez


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Thompson Sampling for Linearly Constrained Bandits


May 12, 2020
Vidit Saxena, Joseph E. Gonzalez, Joakim Jaldén

* 10 pages, 2 figures, updated version of paper accepted at AISTATS2020 

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Mechanism Design with Bandit Feedback


Apr 19, 2020
Kirthevasan Kandasamy, Joseph E. Gonzalez, Michael I. Jordan, Ion Stoica


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FBNetV2: Differentiable Neural Architecture Search for Spatial and Channel Dimensions


Apr 12, 2020
Alvin Wan, Xiaoliang Dai, Peizhao Zhang, Zijian He, Yuandong Tian, Saining Xie, Bichen Wu, Matthew Yu, Tao Xu, Kan Chen, Peter Vajda, Joseph E. Gonzalez

* 8 pages, 10 figures, accepted to CVPR 2020 

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NBDT: Neural-Backed Decision Trees


Apr 01, 2020
Alvin Wan, Lisa Dunlap, Daniel Ho, Jihan Yin, Scott Lee, Henry Jin, Suzanne Petryk, Sarah Adel Bargal, Joseph E. Gonzalez

* 14 pages, 9 figures 

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Learning to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images


Mar 28, 2020
Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Jennifer Grannen, Minho Hwang, Ryan Hoque, Joseph E. Gonzalez, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg


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Frustratingly Simple Few-Shot Object Detection


Mar 16, 2020
Xin Wang, Thomas E. Huang, Trevor Darrell, Joseph E. Gonzalez, Fisher Yu

* 12 pages, 8 figures 

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Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data


Mar 03, 2020
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Michael Laskey, Kevin Stone, Joseph E. Gonzalez, Ken Goldberg

* 2020 International Conference on Robotics and Automation 

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ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions


Mar 03, 2020
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron Ames, Ken Goldberg

* First two authors contributed equally 

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Train Large, Then Compress: Rethinking Model Size for Efficient Training and Inference of Transformers


Feb 26, 2020
Zhuohan Li, Eric Wallace, Sheng Shen, Kevin Lin, Kurt Keutzer, Dan Klein, Joseph E. Gonzalez


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