相关论文: Scalable Planning with Tensorflow for Hybrid Nonli…

In this paper, we present a receding-horizon, sampling-based planner capable of reasoning over multimodal policy distributions. By using the cross-entropy method to optimize a multimodal policy under a common cost function, our approach…

We present a novel algorithm for real-time planar semantic mapping tailored for humanoid robots navigating complex terrains such as staircases. Our method is adaptable to any odometry input and leverages GPU-accelerated processes for planar…

This work explores an extension of machine learning-optimized piecewise polynomial approximation by incorporating energy optimization as an additional objective. Traditional closed-form solutions enable continuity and approximation targets…

Gradient compression is of growing interests for solving constrained optimization problems including compressed sensing, noisy recovery and matrix completion under limited communication resources and storage costs. Convergence analysis of…

Top-tier parallel computing clusters continue to accumulate more and more computational power with more and better CPUs and Networks. This allows, especially for environmental simulations, computations with larger domain sizes and better…

We present distributed algorithms for training dynamic Graph Neural Networks (GNN) on large scale graphs spanning multi-node, multi-GPU systems. To the best of our knowledge, this is the first scaling study on dynamic GNN. We devise…

This paper introduces two straightforward, effective indices to evaluate the input data and the data flowing through layers of a feedforward deep neural network. For classification problems, the separation rate of target labels in the space…

Large-scale distributed training is increasingly becoming communication bound. Many gradient compression algorithms have been proposed to reduce the communication overhead and improve scalability. However, it has been observed that in some…

The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…

Diffusion models offer powerful generative capabilities for robot trajectory planning, yet their practical deployment on robots is hindered by a critical bottleneck: a reliance on imitation learning from expert demonstrations. This paradigm…

Genetic Programming, a kind of evolutionary computation and machine learning algorithm, is shown to benefit significantly from the application of vectorized data and the TensorFlow numerical computation library on both CPU and GPU…

All simulation approaches eventually face limits in computational scalability when applied to large spatiotemporal domains. This challenge becomes especially apparent in molecular-level particle simulations, where high spatial and temporal…

We present TANGO (Tensor ANd Graph Optimization), a novel motion planning framework that integrates tensor-based compression with structured graph optimization to enable efficient and scalable trajectory generation. While optimization-based…

This article presents an automatic approach to quickly derive a good solution for hardware resource partition and task granularity for task-based parallel applications on heterogeneous many-core architectures. Our approach employs a…

We investigate multi-agent navigation tasks, where multiple agents need to reach initially unassigned goals in a limited time. Classical planning-based methods suffer from expensive computation overhead at each step and offer limited…

With the rapid expansion in the scale of large language models (LLMs), enabling efficient distributed inference across multiple computing units has become increasingly critical. However, communication overheads from popular distributed…

Coflow is a recently proposed networking abstraction to help improve the communication performance of data-parallel computing jobs. In multi-stage jobs, each job consists of multiple coflows and is represented by a Directed Acyclic Graph…

Distributed inference of large language models (LLMs) using tensor parallelism can introduce communication overheads of $20$% even over GPUs connected via NVLink, a high-speed GPU interconnect. Several techniques have been proposed to…

The increasing use of heterogeneous embedded systems with multi-core CPUs and Graphics Processing Units (GPUs) presents important challenges in effectively exploiting pipeline, task and data-level parallelism to meet throughput requirements…

In moderate- to high-mobility scenarios, CSI varies rapidly and becomes temporally non-stationary, leading to severe performance degradation in the massive MIMO transmissions. To address this issue, we propose a tensor-structured approach…