相关论文: Parallel Dynamics Computation using Prefix Sum Ope…

Objective: In this work, we propose a framework for differentiable forward and back-projector that enables scalable, accurate, and memory-efficient gradient computation for rigid motion estimation tasks. Methods: Unlike existing approaches…

Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…

Scan (or prefix sum) is a fundamental and widely used primitive in parallel computing. In this paper, we present LightScan, a faster parallel scan primitive for CUDA-enabled GPUs, which investigates a hybrid model combining intra-block…

We present a new method for analyzing the running time of parallel evolutionary algorithms with spatially structured populations. Based on the fitness-level method, it yields upper bounds on the expected parallel running time. This allows…

Motion planning is a fundamental problem in robotics that involves generating feasible trajectories for a robot to follow. Recent advances in parallel computing, particularly through CPU and GPU architectures, have significantly reduced…

Back-propagation (BP) is widely used learning algorithm for neural network optimization. However, BP requires enormous computation cost and is too slow to train in central processing unit (CPU). Therefore current neural network optimizaiton…

In an era when the performance of a single compute device plateaus, software must be designed to scale on massively parallel systems for better runtime performance. However, in the context of training deep learning models, the popular…

The inversion of linear systems is a fundamental step in many inverse problems. Computational challenges exist when trying to invert large linear systems, where limited computing resources mean that only part of the system can be kept in…

We introduce a framework for quasi-Newton forward--backward splitting algorithms (proximal quasi-Newton methods) with a metric induced by diagonal $\pm$ rank-$r$ symmetric positive definite matrices. This special type of metric allows for a…

In this paper, we propose to estimate the forward dynamics equations of mechanical systems by learning a model of the inverse dynamics and estimating individual dynamics components from it. We revisit the classical formulation of rigid body…

GPUs have been widely used to accelerate computations exhibiting simple patterns of parallelism - such as flat or two-level parallelism - and a degree of parallelism that can be statically determined based on the size of the input dataset.…

In this paper, we develop rapidly convergent forward-backward algorithms for computing zeroes of the sum of finitely many maximally monotone operators. A modification of the classical forward-backward method for two general operators is…

For the problem whether Graphic Processing Unit(GPU),the stream processor with high performance of floating-point computing is applicable to neural networks, this paper proposes the parallel recognition algorithm of Convolutional Neural…

Normals with unknown parameters (NUP) can be used to convert nontrivial model-based estimation problems into iterations of linear least-squares or Gaussian estimation problems. In this paper, we extend this approach by augmenting factor…

The last decade has witnessed an explosion in the development of models, theory and computational algorithms for "big data" analysis. In particular, distributed computing has served as a natural and dominating paradigm for statistical…

The introduction of accelerator devices such as graphics processing units (GPUs) has had profound impact on molecular dynamics simulations and has enabled order-of-magnitude performance advances using commodity hardware. To fully reap these…

The purpose of this article is to lay the mathematical foundations of a well known numerical approach in computational statistical physics and molecular dynamics, namely the parallel replica dynamics introduced by A.F. Voter. The aim of the…

Accurate and efficient thermal dynamics models of permanent magnet synchronous motors are vital to efficient thermal management strategies. Physics-informed methods combine model-based and data-driven methods, offering greater flexibility…

Massively parallel hardware (GPUs) and long sequence data have made parallel algorithms essential for machine learning at scale. Yet dynamical systems, like recurrent neural networks and Markov chain Monte Carlo, were thought to suffer from…

Prefix aggregation operation (also called scan), and its particular case, prefix summation, is an important parallel primitive and enjoys a lot of attention in the research literature. It is also used in many algorithms as one of the steps.…