相关论文: Vision-Based Intelligent Robot Grasping Using Spar…

Generative graph models struggle to scale due to the need to predict the existence or type of edges between all node pairs. To address the resulting quadratic complexity, existing scalable models often impose restrictive assumptions such as…

Recent salient object detection (SOD) models predominantly rely on heavyweight backbones, incurring substantial computational cost and hindering their practical application in various real-world settings, particularly on edge devices. This…

Recurrent Neural Networks (RNNs) are used in state-of-the-art models in domains such as speech recognition, machine translation, and language modelling. Sparsity is a technique to reduce compute and memory requirements of deep learning…

It is a big problem that a model of deep learning for a picking robot needs many labeled images. Operating costs of retraining a model becomes very expensive because the object shape of a product or a part often is changed in a factory. It…

This paper is focused on the improvement the efficiency of the sparse convolutional neural networks (CNNs) layers on graphic processing units (GPU). The Nvidia deep neural network (cuDnn) library provides the most effective implementation…

Deep neural networks with lots of parameters are typically used for large-scale computer vision tasks such as image classification. This is a result of using dense matrix multiplications and convolutions. However, sparse computations are…

For transradial amputees, robotic prosthetic hands promise to regain the capability to perform daily living activities. To advance next-generation prosthetic hand control design, it is crucial to address current shortcomings in robustness…

The extensive need for computational resources poses a significant obstacle to deploying large-scale Deep Neural Networks (DNN) on devices with constrained resources. At the same time, studies have demonstrated that a significant number of…

Despite significant advancements in robotic manipulation, achieving consistent and stable grasping remains a fundamental challenge, often limiting the successful execution of complex tasks. Our analysis reveals that even state-of-the-art…

6D pose recognition has been a crucial factor in the success of robotic grasping, and recent deep learning based approaches have achieved remarkable results on benchmarks. However, their generalization capabilities in real-world…

Weight pruning has been widely acknowledged as a straightforward and effective method to eliminate redundancy in Deep Neural Networks (DNN), thereby achieving acceleration on various platforms. However, most of the pruning techniques are…

Network pruning can reduce the high computation cost of deep neural network (DNN) models. However, to maintain their accuracies, sparse models often carry randomly-distributed weights, leading to irregular computations. Consequently, sparse…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

The state-of-the-art deep neural networks (DNNs) have significant computational and data management requirements. The size of both training data and models continue to increase. Sparsification and pruning methods are shown to be effective…

This paper presents Densely Supervised Grasp Detector (DSGD), a deep learning framework which combines CNN structures with layer-wise feature fusion and produces grasps and their confidence scores at different levels of the image hierarchy…

Deep neural networks have emerged as powerful tools for learning operators defined over infinite-dimensional function spaces. However, existing theories frequently encounter difficulties related to dimensionality and limited…

As graphs scale to billions of nodes and edges, graph Machine Learning workloads are constrained by the cost of multi-hop traversals over exponentially growing neighborhoods. While various system-level and algorithmic optimizations have…

We introduce the Sparsity Roofline, a visual performance model for evaluating sparsity in neural networks. The Sparsity Roofline jointly models network accuracy, sparsity, and theoretical inference speedup. Our approach does not require…

Machine learning is increasingly used to improve decisions within branch-and-bound algorithms for mixed-integer programming. Many existing approaches rely on deep learning, which often requires very large training datasets and substantial…

Artificial neural networks open up unprecedented machine learning capabilities at the cost of ever growing computational requirements. Sparsifying the parameters, often achieved through weight pruning, has been identified as a powerful…