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Fast, accurate, and generalizable simulations are a key enabler of modern advances in robot design and control. However, existing simulation frameworks in robotics either model rigid environments and mechanisms only, or if they include…

Accurate simulation to dynamics of axial piston pump (APP) is essential for its design, manufacture and maintenance. However, limited by computation capacity of CPU device and traditional solvers, conventional iteration methods are…

Modern diffusion models, particularly those utilizing a Transformer-based UNet for denoising, rely heavily on self-attention operations to manage complex spatial relationships, thus achieving impressive generation performance. However, this…

We introduce GRiD: a GPU-accelerated library for computing rigid body dynamics with analytical gradients. GRiD was designed to accelerate the nonlinear trajectory optimization subproblem used in state-of-the-art robotic planning, control,…

Pathology foundation models (FMs) have become central to computational histopathology, offering strong transfer performance across a wide range of diagnostic and prognostic tasks. The rapid proliferation of pathology foundation models…

Multi-modal object tracking integrates auxiliary modalities such as depth, thermal infrared, event flow, and language to provide additional information beyond RGB images, showing great potential in improving tracking stabilization in…

In view of the problems that existing salient object detection (SOD) methods are prone to losing details, blurring edges, and insufficient fusion of single-modal information in complex scenes, this paper proposes a dynamic uncertainty…

Solving large complex partial differential equations (PDEs), such as those that arise in computational fluid dynamics (CFD), is a computationally expensive process. This has motivated the use of deep learning approaches to approximate the…

Pressure projection is the single most computationally expensive step in an unsteady incompressible fluid simulation. This work demonstrates the ability of data-driven methods to accelerate the approximate solution of the Poisson equation…

The expedient design of precision components in aerospace and other high-tech industries requires simulations of physical phenomena often described by partial differential equations (PDEs) without exact solutions. Modern design problems…

Although robotic applications increasingly demand versatile and dynamic object handling, most existing techniques are predominantly focused on grasp-based manipulation, limiting their applicability in non-prehensile tasks. To address this…

The rapid growth of large language models (LLMs) and the continuous release of new GPU products have significantly increased the demand for distributed training across heterogeneous GPU environments. In this paper, we present a…

Medical image anomaly detection faces unique challenges due to subtle, heterogeneous anomalies embedded in complex anatomical structures. Through systematic Grad-CAM analysis, we reveal that discriminative activation maps fail on medical…

In the field of data-driven 3D shape analysis and generation, the estimation of global topological features from localized representations such as point clouds, voxels, and neural implicit fields is a longstanding challenge. This paper…

We propose a high-performance GPU solver for inverse homogenization problems to design high-resolution 3D microstructures. Central to our solver is a favorable combination of data structures and algorithms, making full use of the parallel…

Solving complex fluid-structure interaction (FSI) problems, which are described by nonlinear partial differential equations, is crucial in various scientific and engineering applications. Traditional computational fluid dynamics based…

This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…

Step-and-project is a popular way to simulate non-penetrated deformable bodies in physically-based animation. First integrating the system in time regardless of contacts and post resolving potential intersections practically strike a good…

The rapid expansion of Transformer-based large language models has dramatically increased the need for high-performance GPUs. As a result, there is growing demand for fast, accurate, and widely generalizable GPU performance models to…

Physical adversarial camouflage poses a severe security threat to autonomous driving systems by mapping adversarial textures onto 3D objects. Nevertheless, current methods remain brittle in complex dynamic scenarios, failing to generalize…