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Taxonomizing local versus global structure in neural network loss landscapes


Jul 23, 2021
Yaoqing Yang, Liam Hodgkinson, Ryan Theisen, Joe Zou, Joseph E. Gonzalez, Kannan Ramchandran, Michael W. Mahoney


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Accelerating Quadratic Optimization with Reinforcement Learning


Jul 22, 2021
Jeffrey Ichnowski, Paras Jain, Bartolomeo Stellato, Goran Banjac, Michael Luo, Francesco Borrelli, Joseph E. Gonzalez, Ion Stoica, Ken Goldberg

* 25 pages, 7 figures. Code available at https://github.com/berkeleyautomation/rlqp 

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Learning Space Partitions for Path Planning


Jul 14, 2021
Kevin Yang, Tianjun Zhang, Chris Cummins, Brandon Cui, Benoit Steiner, Linnan Wang, Joseph E. Gonzalez, Dan Klein, Yuandong Tian


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LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Iterative Tasks


Jul 10, 2021
Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg

* Preprint, Under Review. First two authors contributed equally 

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Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies


Jun 29, 2021
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen Novoseller, Minho Hwang, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg


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CathAI: Fully Automated Interpretation of Coronary Angiograms Using Neural Networks


Jun 14, 2021
Robert Avram, Jeffrey E. Olgin, Alvin Wan, Zeeshan Ahmed, Louis Verreault-Julien, Sean Abreau, Derek Wan, Joseph E. Gonzalez, Derek Y. So, Krishan Soni, Geoffrey H. Tison

* 62 pages, 3 main figures, 2 main tables 

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PAC Best Arm Identification Under a Deadline


Jun 08, 2021
Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph E. Gonzalez

* In submission 

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Disentangling Dense Multi-Cable Knots


Jun 04, 2021
Vainavi Viswanath, Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Ellen Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg

* First three authors contributed equally 

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Transformers are Deep Infinite-Dimensional Non-Mercer Binary Kernel Machines


Jun 02, 2021
Matthew A. Wright, Joseph E. Gonzalez

* Work in progress, comments welcome 

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ActNN: Reducing Training Memory Footprint via 2-Bit Activation Compressed Training


Apr 29, 2021
Jianfei Chen, Lianmin Zheng, Zhewei Yao, Dequan Wang, Ion Stoica, Michael W. Mahoney, Joseph E. Gonzalez


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Contingencies from Observations: Tractable Contingency Planning with Learned Behavior Models


Apr 21, 2021
Nicholas Rhinehart, Jeff He, Charles Packer, Matthew A. Wright, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine

* To be published at ICRA 2021. Project page: https://sites.google.com/view/contingency-planning 

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Data-Efficient Language-Supervised Zero-Shot Learning with Self-Distillation


Apr 18, 2021
Ruizhe Cheng, Bichen Wu, Peizhao Zhang, Peter Vajda, Joseph E. Gonzalez

* 4 pages, 1 figure 

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Robust Object Detection via Instance-Level Temporal Cycle Confusion


Apr 16, 2021
Xin Wang, Thomas E. Huang, Benlin Liu, Fisher Yu, Xiaolong Wang, Joseph E. Gonzalez, Trevor Darrell


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Pylot: A Modular Platform for Exploring Latency-Accuracy Tradeoffs in Autonomous Vehicles


Apr 16, 2021
Ionel Gog, Sukrit Kalra, Peter Schafhalter, Matthew A. Wright, Joseph E. Gonzalez, Ion Stoica

* ICRA 2021; 8 pages, 4 figures, 1 table 

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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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