Related papers: Fast GPU-Based Two-Way Continuous Collision Handli…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
For efficient and safe autonomous driving, it is essential that autonomous vehicles can predict the motion of other traffic agents. While highly accurate, current motion prediction models often impose significant challenges in terms of…
Recovering the camera motion and scene geometry from visual data is a fundamental problem in the field of computer vision. Its success in standard vision is attributed to the maturity of feature extraction, data association and multi-view…
Implicit methods and GPU parallelization are two distinct yet powerful strategies for accelerating high-order CFD algorithms. However, few studies have successfully integrated both approaches within high-speed flow solvers. The core…
High-fidelity reconstruction of driving scenes is crucial for autonomous driving. While recent feedforward 3D Gaussian Splatting (3DGS) methods enable fast reconstruction, their per-pixel Gaussian prediction paradigm often suffers from…
Optimization-based methods are commonly applied in autonomous driving trajectory planners, which transform the continuous-time trajectory planning problem into a finite nonlinear program with constraints imposed at finite collocation…
In this paper, a thermal-dynamical consistent model for mass transfer across permeable moving interfaces is proposed by using the energy variation method. We consider a restricted diffusion problem where the flux across the interface…
State-of-the-art approaches for autonomous driving integrate multiple sub-tasks of the overall driving task into a single pipeline that can be trained in an end-to-end fashion by passing latent representations between the different modules.…
We present DeSiRe-GS, a self-supervised gaussian splatting representation, enabling effective static-dynamic decomposition and high-fidelity surface reconstruction in complex driving scenarios. Our approach employs a two-stage optimization…
In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…
The present work proposes an approach for fluid-solid and contact interaction problems including thermo-mechanical coupling and reversible phase transitions. The solid field is assumed to consist of several arbitrarily-shaped, undeformable…
Existing top-performance autonomous driving systems typically rely on the multi-modal fusion strategy for reliable scene understanding. This design is however fundamentally restricted due to overlooking the modality-specific strengths and…
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…
This work presents a sequential convex program method to compute fuel-optimal collision avoidance maneuvers for long-term encounters. The low-thrust acceleration model is used to account for the control, but the method can compute…
This article presents a multi-physics methodology for the numerical simulation of physical systems that involve the non-linear interaction of multi-phase reactive fluids and elastoplastic solids, inducing high strain-rates and high…
In this work we propose an accelerated stochastic learning system for very large-scale applications. Acceleration is achieved by mapping the training algorithm onto massively parallel processors: we demonstrate a parallel, asynchronous GPU…
Tracking multiple objects in videos relies on modeling the spatial-temporal interactions of the objects. In this paper, we propose a solution named TransMOT, which leverages powerful graph transformers to efficiently model the spatial and…
In this work, we propose a numerical approach for simulations of large deformations of interfaces in a level set framework. To obtain a fast and viable numerical solution in both time and space, temporal discretization is based on the…
Continuous formulations of trajectory planning problems have two main benefits. First, constraints are guaranteed to be satisfied at all times. Secondly, dynamic obstacles can be naturally considered with time. This paper introduces a novel…
Two-dimensional (planar) rigid-body impact mechanics for application in automobile collisions have been described by a number of researchers over the last several decades. Little has been discussed, however, regarding three-dimensional…