Robot planning is the process of selecting a sequence of actions that optimize for a task=specific objective. For instance, the objective for a navigation task would be to find collision-free paths, whereas the objective for an exploration task would be to map unknown areas. The…
Recurrent neural networks (RNNs) are an important class of deep learning (DL) models. Existing DL frameworks have unsatisfying performance for online serving: many RNN models suffer from long serving latency and high cost, preventing their deployment in production. This work characterizes RNN performance and identifies…
We explore the problem of learning under selective labels in the context of algorithm-assisted decision making. Selective labels is a pervasive selection bias problem that arises when historical decision making blinds us to the true outcome for certain instances. Examples of this are common in…
Automatic pun generation is an interesting and challenging text generation task. Previous efforts rely on templates or laboriously manually annotated pun datasets, which heavily constrains the quality and diversity of generated puns. Since sequence-to-sequence models provide an effective technique for text generation, it is promising…
Decision-Making (Planning or Reinforcement Learning) with preferences has been employed extensively to quickly generate high-quality plans. However, it may be difficult for the human expert to supply this information without knowledge of the reasoning employed by the planner and the distribution of planning problems. We…
Plant identification is critical to support important biodiversity conservation actions such as biodiversity inventories, monitoring of populations of endangered organisms, and assessing climate change impact, among many others. Because deep learning has demonstrated impressive results in the field of computer vision in general, research on…
Malicious software, or malware, presents a continuously evolving challenge in computer security. These embedded snippets of code in the form of malicious files or hidden within legitimate files cause a major risk to systems with their ability to run malicious command sequences. Malware authors even…
We argue that robustness of explanations---i.e., that similar inputs should give rise to similar explanations---is a key desideratum for interpretability. We introduce metrics to quantify robustness and demonstrate that current methods do not perform well according to these metrics. Finally, we propose ways that robustness…
This paper presents the first attempt at stereoscopic neural style transfer, which responds to the emerging demand for 3D movies or AR/VR. We start with a careful examination of applying existing monocular style transfer methods to left and right views of stereoscopic images separately. This…
We present a novel cost function for semi-supervised learning of neural networks that encourages compact clustering of the latent space to facilitate separation. The key idea is to dynamically create a graph over embeddings of labeled and unlabeled samples of a training batch to capture…
Knowledge graphs enable a wide variety of applications, including question answering and information retrieval. Despite the great effort invested in their creation and maintenance, even the largest (e.g., Yago, DBPedia or Wikidata) remain incomplete. We introduce Relational Graph Convolutional Networks (R-GCNs) and apply them to…
Novel algorithmic advances have paved the way for robotics to transform the dynamics of many social and enterprise applications. To achieve true autonomy, robots need to continuously process and interact with their environment through computationally-intensive motion planning and control algorithms under a low power budget.…
