Related papers: Phantom-GRAPE: numerical software library to accel…
Large-scale distributed graph-parallel computing is challenging. On one hand, due to the irregular computation pattern and lack of locality, it is hard to express parallelism efficiently. On the other hand, due to the scale-free nature,…
Processing-in-memory (PIM) has shown extraordinary potential in accelerating neural networks. To evaluate the performance of PIM accelerators, we present an ISA-based simulation framework including a dedicated ISA targeting neural networks…
Soft robots, inspired by elephant trunks or octopus arms, offer extraordinary flexibility to bend, twist, and elongate in ways that rigid robots cannot. However, their motion planning remains a challenge, especially in cluttered…
We review the recent optimizations of gravitational $N$-body kernels for running them on graphics processing units (GPUs), on single hosts and massive parallel platforms. For each of the two main $N$-body techniques, direct summation and…
Accurately simulating whether an object will be lifted securely or dropped during grasping is a longstanding Sim2Real challenge. Soft compliant jaw tips are almost universally used with parallel-jaw robot grippers due to their ability to…
We present a fast and feature-complete differentiable physics engine, Nimble (nimblephysics.org), that supports Lagrangian dynamics and hard contact constraints for articulated rigid body simulation. Our differentiable physics engine offers…
We present Shamrock, a performance portable framework developed in C++17 with the SYCL programming standard, tailored for numerical astrophysics on Exascale architectures. The core of Shamrock is an accelerated parallel tree with negligible…
We present SymForce, a library for fast symbolic computation, code generation, and nonlinear optimization for robotics applications like computer vision, motion planning, and controls. SymForce combines the development speed and flexibility…
We compare the performance of two very different parallel gravitational $N$-body codes for astrophysical simulations on large GPU clusters, both pioneer in their own fields as well as in certain mutual scales - NBODY6++ and Bonsai. We carry…
The von Neumann graph entropy (VNGE) facilitates measurement of information divergence and distance between graphs in a graph sequence. It has been successfully applied to various learning tasks driven by network-based data. While…
In this study, the gravitational octree code originally optimized for the Fermi, Kepler, and Maxwell GPU architectures is adapted to the Volta architecture. The Volta architecture introduces independent thread scheduling requiring either…
We present a high-fidelity realization of the cosmological $N$-body simulation from the Schneider et al. (2016) code comparison project. The simulation was performed with our Abacus $N$-body code, which offers high force accuracy, high…
The Gradient Ascent Pulse Engineering (GRAPE) is a celebrated control algorithm with excellent converging rates, owing to a piece-wise-constant ansatz for the control function that allows for cheap objective gradients. However, the…
We present a new parallel PM N-body code named PMFAST that is freely available to the public. PMFAST is based on a two-level mesh gravity solver where the gravitational forces are separated into long and short range components. The…
Our goal is to develop an efficient contact detection algorithm for large-scale GPU-based simulation of non-convex objects. Current GPU-based simulators such as IsaacGym and Brax must trade-off speed with fidelity, generality, or both when…
The kd-tree is a fundamental tool in computer science. Among others, an application of the kd-tree search (oct-tree method) to fast evaluation of particle interactions and neighbor search is highly important since computational complexity…
Due to the very long timescales involved (us-s), theoretical modeling of fundamental biological processes including folding, misfolding, and mechanical unraveling of biomolecules, under physiologically relevant conditions, is challenging…
In this paper, we describe the design and performance of GRAPE-6A, a special-purpose computer for gravitational many-body simulations. It was designed to be used with a PC cluster, in which each node has one GRAPE-6A. Such configuration is…
We present a novel convex formulation that weakly couples the Material Point Method (MPM) with rigid body dynamics through frictional contact, optimized for efficient GPU parallelization. Our approach features an asynchronous time-splitting…
NVIDIA Tensor Core is a mixed-precision matrix-matrix multiplication and addition computing unit, where the theoretical peak performance is more than 300 TFlop/s on NVIDIA A100 GPU. NVIDIA provides WMMA API for using Tensor Cores in custom…