Related papers: StiffGIPC: Advancing GPU IPC for stiff affine-defo…
ipie is a Python-based auxiliary-field quantum Monte Carlo (AFQMC) package that has undergone substantial improvements since its initial release [J. Chem. Theory Comput., 2023, 19(1): 109-121]. This paper outlines the improved modularity…
Continuum robots offer high flexibility and multiple degrees of freedom, making them ideal for navigating narrow lumens. However, accurately modeling their behavior under large deformations and frequent environmental contacts remains…
The solution of linear systems of equations is a central task in a number of scientific and engineering applications. In many cases the solution of linear systems may take most of the simulation time thus representing a major bottleneck in…
Dynamics simulation with frictional contacts is important for a wide range of applications, from cloth simulation to object manipulation. Recent methods using smoothed lagged friction forces have enabled robust and differentiable simulation…
Fluid-structure systems occur in a range of scientific and engineering applications. The immersed boundary(IB) method is a widely recognized and effective modeling paradigm for simulating fluid-structure interaction(FSI) in such systems,…
Tensor processing units (TPUs), specialized hardware accelerators for machine learning tasks, have shown significant performance improvements when executing convolutional layers in convolutional neural networks (CNNs). However, they…
A multigrid scheme is proposed for the pressure equation of the incompressible unsteady fluid flow equations, allowing efficient implementation on clusters of modern CPUs, many integrated core devices (MICs), and graphics processing units…
The Parameter-Efficient Fine-Tuning (PEFT) method, which adjusts or introduces fewer trainable parameters to calibrate pre-trained models on downstream tasks, has become a recent research interest. However, existing PEFT methods within the…
The article is aimed to address a mutually boosting use of asymptotic analysis and machine learning, for fast stiffness design of configurations infilled with smoothly-varying graded microstructures. The discussion is conducted in the…
This paper presents an Impedance Primitive-augmented hierarchical reinforcement learning framework for efficient robotic manipulation in sequential contact tasks. We leverage this hierarchical structure to sequentially execute behavior…
Generative model based image lossless compression algorithms have seen a great success in improving compression ratio. However, the throughput for most of them is less than 1 MB/s even with the most advanced AI accelerated chips, preventing…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…
In this paper we present a new GPU-oriented mesh optimization method based on high-order finite elements. Our approach relies on node movement with fixed topology, through the Target-Matrix Optimization Paradigm (TMOP) and uses a global…
Antagonistic artificial muscles can decouple joint torque and stiffness, but contact transients often degrade this independence. We present a unified real-time framework applicable across pneumatic, electrohydraulic, and dielectric…
Emerging analog computing substrates, such as oscillator-based Ising machines, offer rapid convergence times for combinatorial optimization but often suffer from limited scalability due to physical implementation constraints. To tackle…
Conventional affine formation control (AFC) empowers a network of agents with flexible but collective motions - a potential which has not yet been exploited for large-scale swarms. One of the key bottlenecks lies in the design of an…
Integrated sensing, communication, and computation (ISCC) has been regarded as a prospective technology for the next-generation wireless network, supporting humancentric intelligent applications. However, the delay sensitivity of these…
Many-body perturbation theory is a powerful method to simulate electronic excitations in molecules and materials starting from the output of density functional theory calculations. By implementing the theory efficiently so as to run at…
FPGA overlays are commonly implemented as coarse-grained reconfigurable architectures with a goal to improve designers' productivity through balancing flexibility and ease of configuration of the underlying fabric. To truly facilitate full…
We present a multiparticle collision dynamics (MPC) implementation of layered immiscible fluids $A$ and $B$ of different shear viscosities separated by planar interfaces. The simulated flow profile for imposed steady shear motion and the…