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Kwanhee Lee

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2 papers
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2

ICML Conference 2025 Conference Paper

SAFE: Finding Sparse and Flat Minima to Improve Pruning

  • Dongyeop Lee
  • Kwanhee Lee
  • Jinseok Chung
  • Namhoon Lee

Sparsifying neural networks often suffers from seemingly inevitable performance degradation, and it remains challenging to restore the original performance despite much recent progress. Motivated by recent studies in robust optimization, we aim to tackle this problem by finding subnetworks that are both sparse and flat at the same time. Specifically, we formulate pruning as a sparsity-constrained optimization problem where flatness is encouraged as an objective. We solve it explicitly via an augmented Lagrange dual approach and extend it further by proposing a generalized projection operation, resulting in novel pruning methods called SAFE and its extension, SAFE$^+$. Extensive evaluations on standard image classification and language modeling tasks reveal that SAFE consistently yields sparse networks with improved generalization performance, which compares competitively to well-established baselines. In addition, SAFE demonstrates resilience to noisy data, making it well-suited for real-world conditions.

ICRA Conference 1997 Conference Paper

Automatic landing method of a reclaimer on the stockpile

  • Chintae Choi
  • Hyunsik Ahn
  • Kwanhee Lee
  • Kitae Shin

The huge reclaimers in the raw ore yard are used to dig ore and transfer it to the blast furnaces. In this paper, an automatic landing method of the reclaimer is proposed to develop an autonomous reclaimer. A 3-dimensional range finder which consists of a 2-dimensional scanner and an additional joint was developed with laser radar concepts and is installed on the roof of the reclaimer to detect the ore pile. A height map is obtained from the acquired range data for an ore pile and a contour map for the pile is obtained through some image processing steps. The optimal landing point in the contour line is determined so that an overload problem does not occur in the slewing operation and reclaiming efficiency is maximized. The algorithm for finding the landing point needs an inverse kinematics solution for the reclaimer. The reclaimer has a redundancy due to the rotating buckets at the end of the its boom. A constraint equation for solving the inverse kinematics of the reclaimer is also derived by the geometrical relationship.

v2026.09.13