Author name cluster

Jeremy Maitin-Shepard

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3 papers

2 author rows

JMLR Journal 2023 Journal Article

Scaling Up Models and Data with t5x and seqio

Adam Roberts
Hyung Won Chung
Gaurav Mishra
Anselm Levskaya
James Bradbury
Daniel Andor
Sharan Narang
Brian Lester

Scaling up training datasets and model parameters have benefited neural network-based language models, but also present challenges like distributed compute, input data bottlenecks and reproducibility of results. We introduce two simple and scalable software libraries that simplify these issues: t5x enables training large language models at scale, while seqio enables reproducible input and evaluation pipelines. These open-source libraries have been used to train models with hundreds of billions of parameters on multi-terabyte datasets. Configurations and instructions for T5-like and GPT-like models are also provided. The libraries can be found at https://github.com/google-research/t5x and https://github.com/google/seqio. [abs] [ pdf ][ bib ] [ code ] &copy JMLR 2023. ( edit, beta )

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NeurIPS Conference 2016 Conference Paper

Combinatorial Energy Learning for Image Segmentation

Jeremy Maitin-Shepard
Viren Jain
Michal Januszewski
Peter Li
Pieter Abbeel

We introduce a new machine learning approach for image segmentation that uses a neural network to model the conditional energy of a segmentation given an image. Our approach, combinatorial energy learning for image segmentation (CELIS) places a particular emphasis on modeling the inherent combinatorial nature of dense image segmentation problems. We propose efficient algorithms for learning deep neural networks to model the energy function, and for local optimization of this energy in the space of supervoxel agglomerations. We extensively evaluate our method on a publicly available 3-D microscopy dataset with 25 billion voxels of ground truth data. On an 11 billion voxel test set, we find that our method improves volumetric reconstruction accuracy by more than 20% as compared to two state-of-the-art baseline methods: graph-based segmentation of the output of a 3-D convolutional neural network trained to predict boundaries, as well as a random forest classifier trained to agglomerate supervoxels that were generated by a 3-D convolutional neural network.

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ICRA Conference 2010 Conference Paper

Cloth grasp point detection based on multiple-view geometric cues with application to robotic towel folding

Jeremy Maitin-Shepard
Marco F. Cusumano-Towner
Jinna Lei
Pieter Abbeel

We present a novel vision-based grasp point detection algorithm that can reliably detect the corners of a piece of cloth, using only geometric cues that are robust to variation in texture. Furthermore, we demonstrate the effectiveness of our algorithm in the context of folding a towel using a general-purpose two-armed mobile robotic platform without the use of specialized end-effectors or tools. The robot begins by picking up a randomly dropped towel from a table, goes through a sequence of vision-based re-grasps and manipulations-partially in the air, partially on the table-and finally stacks the folded towel in a target location. The reliability and robustness of our algorithm enables for the first time a robot with general purpose manipulators to reliably and fully-autonomously fold previously unseen towels, demonstrating success on all 50 out of 50 single-towel trials as well as on a pile of 5 towels.

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