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Recent advances in deep reinforcement learning in the paradigm of locomotion using continuous control have raised the interest of game makers for the potential of digital actors using active ragdoll. Currently, the available options to…
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…
Co-simulation is a critical approach for the design and analysis of complex cyber-physical systems. It will enhance development efficiency and reduce costs. This paper presents a co-simulation framework integrating ROS 2 and MATLAB/Simulink…
Compiler optimization is crucial for enhancing program performance by transforming the sequence of optimization passes while maintaining correctness. Despite the promising potential of large language models (LLMs)-based agent for software…
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…
Pre-trained models (PM) have achieved promising results in content generation. However, the space for human creativity and imagination is endless, and it is still unclear whether the existing models can meet the needs. Model-generated…
Model predictive control (MPC) of hybrid dynamical systems is challenging because the associated optimization problem is nonsmooth and the resulting feedback law is discontinuous. This paper develops real-time MPC algorithms for nonlinear…
Applied research in graph algorithms and combinatorial structures needs comprehensive and versatile software libraries. However, the design and the implementation of flexible libraries are challenging activities. Among the other problems…
On the way to Exascale, programmers face the increasing challenge of having to support multiple hardware architectures from the same code base. At the same time, portability of code and performance are increasingly difficult to achieve as…
The robust truss topology optimization against the uncertain static external load can be formulated as mixed-integer semidefinite programming. Although a global optimal solution can be computed with a branch-and-bound method, it is very…
Coarse Grained Reconfigurable Arrays (CGRAs) present both high flexibility and efficiency, making them well-suited for the acceleration of intensive workloads. Nevertheless, a key barrier towards their widespread adoption is posed by CGRA…
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…
The complexity of heterogeneous computing architectures, as well as the demand for productive and portable parallel application development, have driven the evolution of parallel programming models to become more comprehensive and complex…
In this paper we introduce MATMPC, an open source software built in MATLAB for nonlinear model predictive control (NMPC). It is designed to facilitate modelling, controller design and simulation for a wide class of NMPC applications. MATMPC…
We present a C++ library, TLoops, which uses a hierarchy of expression templates to represent operations upon tensorial quantities in single lines of C++ code that resemble analytic equations. These expressions may be run as-is, but may…
The control of nonlinear systems with unknown dynamics has been a significant field of research for many years. This paper presents a novel data-driven optimal adaptive control structure with less control effort and faster adaptation than…
MLPACK is a state-of-the-art, scalable, multi-platform C++ machine learning library released in late 2011 offering both a simple, consistent API accessible to novice users and high performance and flexibility to expert users by leveraging…
Parallelization is needed everywhere, from laptops and mobile phones to supercomputers. Among parallel programming models, task-based programming has demonstrated a powerful potential and is widely used in high-performance scientific…
The article deals with a kind of recursive function templates in C++, where the recursion is realized corresponding template parameters to achieve better computational performance. Some specialization of these template functions ends the…
This paper consists of three parts. The first part provides a unified programming model for heterogeneous computing with CPU and accelerator (like GPU, FPGA, Google TPU, Atos QPU, and more) technologies. To some extent, this new programming…