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GPU-based simulation environments for embodied AI interleave physics simulation (CUDA) and photorealistic rendering (Vulkan) on a single device. We observe that two foundational scenarios -- simulation data generation and RL training -- can…
Accurate and safe robotic manipulation under dynamic and visually occluded conditions remains a core challenge in real-world deployment. We introduce SyncTwin, a novel digital twin framework that unifies fast 3D scene reconstruction and…
Tremendous advances in parallel computing and graphics hardware opened up several novel real-time GPU applications in the fields of computer vision, computer graphics as well as augmented reality (AR) and virtual reality (VR). Although…
We introduce the Control Toolbox (CT), an open-source C++ library for efficient modeling, control, estimation, trajectory optimization and Model Predictive Control. The CT is applicable to a broad class of dynamic systems but features…
We introduce the Bandicoot C++ library for linear algebra and scientific computing on GPUs, overviewing its user interface and performance characteristics, as well as the technical details of its internal design. Bandicoot is the…
This paper introduces and evaluates a freely available cellular nonlinear network simulator optimized for the effective use of GPUs, to achieve fast modelling and simulations. Its relevance is demonstrated for several applications in…
The future of computation is the Graphical Processing Unit, i.e. the GPU. The promise that the graphics cards have shown in the field of image processing and accelerated rendering of 3D scenes, and the computational capability that these…
The Graphics Processing Unit (GPU) is a powerful tool for parallel computing. In the past years the performance and capabilities of GPUs have increased, and the Compute Unified Device Architecture (CUDA) - a parallel computing architecture…
We present a new library for parallel distributed Fast Fourier Transforms (FFT). The importance of FFT in science and engineering and the advances in high performance computing necessitate further improvements. AccFFT extends existing FFT…
General Purpose Graphics Processing Unit (GPGPU) computing plays a transformative role in deep learning and machine learning by leveraging the computational advantages of parallel processing. Through the power of Compute Unified Device…
The possibilities of robot control have multiplied across various domains through the application of deep reinforcement learning. To overcome safety and sampling efficiency issues, deep reinforcement learning models can be trained in a…
Granular materials are of critical interest to many robotic tasks in planetary science, construction, and manufacturing. However, the dynamics of granular materials are complex and often computationally very expensive to simulate. We…
Numerical simulations are ubiquitous in mathematics and computational science. Several industrial and clinical applications entail modeling complex multiphysics systems that evolve over a variety of spatial and temporal scales. This study…
This paper focuses on the parallel implementation of a direct $N$-body method~(particle-particle algorithm) and the application of multiple GPUs for galactic dynamics simulations. Application of a hybrid OpenMP-CUDA technology is considered…
Existing GPU libraries often struggle to fully exploit the parallel resources and on-chip memory (SRAM) of GPUs when chaining multiple GPU functions as individual kernels. While Kernel Fusion (KF) techniques like Horizontal Fusion (HF) and…
This paper introduces a new C++/CUDA library for GPU-accelerated stochastic optimization called MPPI-Generic. It provides implementations of Model Predictive Path Integral control, Tube-Model Predictive Path Integral Control, and Robust…
Quantitative analysis of multidimensional biological images is useful for understanding complex cellular phenotypes and accelerating advances in biomedical research. As modern microscopy generates ever-larger 2D and 3D datasets, existing…
RUMD is a general purpose, high-performance molecular dynamics (MD) simulation package running on graphical processing units (GPU's). RUMD addresses the challenge of utilizing the many-core nature of modern GPU hardware when simulating…
This report provides an introduction to the Bandicoot C++ library for linear algebra and scientific computing on GPUs, overviewing its user interface and performance characteristics, as well as the technical details of its internal design.…
Many-particle continuous-time quantum walks (CTQWs) represent a resource for several tasks in quantum technology, including quantum search algorithms and universal quantum computation. In order to design and implement CTQWs in a realistic…