Related papers: RoboGPU: Accelerating GPU Collision Detection for …
3D intelligence leverages rich 3D features and stands as a promising frontier in AI, with 3D rendering fundamental to many downstream applications. 3D Gaussian Splatting (3DGS), an emerging high-quality 3D rendering method, requires…
Nowadays, GPU accelerators are commonly used to speed up general-purpose computing tasks on a variety of hardware. However, due to the diversity of GPU architectures and processed data, optimization of codes for a particular type of…
We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion…
With the rise of self-driving vehicles comes the risk of accidents and the need for higher safety, and protection for pedestrian detection in the following scenarios: imminent crashes, thus the car should crash into an object and avoid the…
Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they risk crashing and sustaining damage after collisions.…
Scheduling real-time tasks that utilize GPUs with analyzable guarantees poses a significant challenge due to the intricate interaction between CPU and GPU resources, as well as the complex GPU hardware and software stack. While much…
Robots deployed in unstructured environments must coordinate whole-body motion -- simultaneously moving a mobile base and arm -- to interact with the physical world. This coupled mobility and dexterity yields a state space that grows…
We describe the use of Graphics Processing Units (GPUs) for speeding up the code NBODY6 which is widely used for direct $N$-body simulations. Over the years, the $N^2$ nature of the direct force calculation has proved a barrier for…
The reduction of a banded matrix to bidiagonal form is a critical step in the calculation of Singular Values, a cornerstone of scientific computing and AI. Although inherently parallel, this step has traditionally been considered unsuitable…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Recent advancements in neural rendering technologies and their supporting devices have paved the way for immersive 3D experiences, significantly transforming human interaction with intelligent devices across diverse applications. However,…
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…
The rapidly advancing field of Augmented and Virtual Reality (AR/VR) demands real-time, photorealistic rendering on resource-constrained platforms. 3D Gaussian Splatting, delivering state-of-the-art (SOTA) performance in rendering…
The edge computing paradigm has emerged to handle cloud computing issues such as scalability, security and low response time among others. This new computing trend heavily relies on ubiquitous embedded systems on the edge. Performance and…
Graphics Processing Units (GPUs) have become the standard in accelerating scientific applications on heterogeneous systems. However, as GPUs are getting faster, one potential performance bottleneck with GPU-accelerated applications is the…
Astronomers have come to rely on the increasing performance of computers to reduce, analyze, simulate and visualize their data. In this environment, faster computation can mean more science outcomes or the opening up of new parameter spaces…
The paper presents the aspect of use of modern graphics accelerators supporting CUDA technology for high-performance computing in the field of linear algebra. Fully programmable graphic cards have been available for several years for both…
Real-time large-scale crowd simulations with realistic behavior, are important for many application areas. On CPUs, the ORCA pedestrian steering model is often used for agent-based pedestrian simulations. This paper introduces a technique…
Fast contact detection is crucial for safe human-robot collaboration. Observers based on proprioceptive information can be used for contact detection but have first-order error dynamics, which results in delays. Sensor fusion based on…
Hardware accelerators (such as Nvidia's CUDA GPUs) have tremendous promise for computational science, because they can deliver large gains in performance at relatively low cost. In this work, we focus on the use of Nvidia's Tesla GPU for…