Related papers: Brax -- A Differentiable Physics Engine for Large …
Multi-objective reinforcement learning (MORL) is a powerful tool to learn Pareto-optimal policy families across conflicting objectives. However, unlike traditional RL algorithms, existing MORL algorithms do not effectively leverage…
Differentiable simulators provide an avenue for closing the sim-to-real gap by enabling the use of efficient, gradient-based optimization algorithms to find the simulation parameters that best fit the observed sensor readings. Nonetheless,…
Modern large language models require distributed training strategies due to their size. The challenges of efficiently and robustly training them are met with rapid developments on both software and hardware frontiers. In this technical…
Open Source Physics (Brown, 2012; Christian, 2010; Esquembre, 2012; Hwang, 2010) empowers teachers and students to create and use these free tools with the associated intellectual property rights given to customise (Wee & Mak, 2009) the…
We present RUBIX, a fully tested, well-documented, and modular Open Source tool developed in JAX, designed to forward model IFU cubes of galaxies from cosmological hydrodynamical simulations. The code automatically parallelizes computations…
In this work we propose a novel task framework under which a variety of physical reasoning puzzles can be constructed using very simple rules. Under sparse reward settings, most of these tasks can be very challenging for a reinforcement…
The Baxter robot is a standard research platform used widely in research tasks, supported with an SDK provided by the developers, Rethink Robotics. Despite the ubiquitous use of the robot, the official software support is sub-standard.…
Multimodal recommender systems leverage diverse data sources, such as user interactions, content features, and contextual information, to address challenges like cold-start and data sparsity. However, existing methods often suffer from one…
The open source ALPS (Algorithms and Libraries for Physics Simulations) project provides a collection of physics libraries and applications, with a focus on simulations of lattice models and strongly correlated systems. The libraries…
This paper presents an open-source MATLAB/Simulink physics simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink features like MATLAB system classes and Simulink function…
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…
Particle accelerators play a pivotal role in advancing scientific research, yet optimizing beamline configurations to maximize particle transmission remains a labor-intensive task requiring expert intervention. In this work, we introduce…
Reinforcement learning (RL) is one of the most active fields of AI research. Despite the interest demonstrated by the research community in reinforcement learning, the development methodology still lags behind, with a severe lack of…
Population balance equation (PBE) models have potential to automate many engineering processes with far-reaching implications. In the pharmaceutical sector, crystallization model-based design can contribute to shortening excessive drug…
Electronic structure simulation (ESS) has been used for decades to provide quantitative scientific insights on an atomistic scale, enabling advances in chemistry, biology, and materials science, among other disciplines. Following standard…
We present a differentiable simulation architecture for articulated rigid-body dynamics that enables the augmentation of analytical models with neural networks at any point of the computation. Through gradient-based optimization,…
Transformers have revolutionized deep learning and generative modeling to enable unprecedented advancements in natural language processing tasks and beyond. However, designing hardware accelerators for executing transformer models is…
Optimal use of computing resources requires extensive coding, tuning and benchmarking. To boost developer productivity in these time consuming tasks, we introduce the Experimental Linear Algebra Performance Studies framework (ELAPS), a…
We propose a hardware-efficient RBD accelerator based on FPGA, introducing three key innovations. First, we propose a precision-aware quantization framework that reduces DSP demand while preserving motion accuracy. This is also the first…
Predicting and planning interactive behaviors in complex traffic situations presents a challenging task. Especially in scenarios involving multiple traffic participants that interact densely, autonomous vehicles still struggle to interpret…