相关论文: GPU-Accelerated Robotic Simulation for Distributed…

In recent years, deep reinforcement learning (RL) has shown its effectiveness in solving complex continuous control tasks. However, this comes at the cost of an enormous amount of experience required for training, exacerbated by the…

Simulation frameworks such as Isaac Sim have enabled scalable robot learning for locomotion and rigid-body manipulation; however, contact-rich simulation remains a major bottleneck for deformable object manipulation. The continuously…

Recent advances in robot-assisted surgery have resulted in progressively more precise, efficient, and minimally invasive procedures, sparking a new era of robotic surgical intervention. This enables doctors, in collaborative interaction…

Distributed training frameworks, like TensorFlow, have been proposed as a means to reduce the training time of deep learning models by using a cluster of GPU servers. While such speedups are often desirable---e.g., for rapidly evaluating…

Particle accelerator modeling is an important field of research and development, essential to investigating, designing and operating some of the most complex scientific devices ever built. Kinetic simulations of relativistic, charged…

This paper presents a novel approach for accelerating n-body simulations by integrating a physics-informed graph neural networks (GNN) with traditional numerical methods. Our method implements a leapfrog-based simulation engine to generate…

Reinforcement learning (RL) is an agent-based approach for teaching robots to navigate within the physical world. Gathering data for RL is known to be a laborious task, and real-world experiments can be risky. Simulators facilitate the…

Deep learning has led to tremendous advancements in the field of Artificial Intelligence. One caveat however is the substantial amount of compute needed to train these deep learning models. Training a benchmark dataset like ImageNet on a…

Deep reinforcement learning (deep RL) has achieved superior performance in complex sequential tasks by learning directly from image input. A deep neural network is used as a function approximator and requires no specific state information.…

The possibilities of robot control have multiplied across various domains through the application of deep reinforcement learning. To overcome safety and sampling efficiency issues, deep reinforcement learning models can be trained in a…

Evolutionary computing (EC) has proven to be effective in solving complex optimization and robotics problems. Unfortunately, typical Evolutionary Algorithms (EAs) are constrained by the computational capacity available to researchers. More…

Isaac Gym offers a high performance learning platform to train policies for wide variety of robotics tasks directly on GPU. Both physics simulation and the neural network policy training reside on GPU and communicate by directly passing…

Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…

As large language models (LLMs) continue to scale and new GPUs are released even more frequently, there is an increasing demand for LLM post-training in heterogeneous environments to fully leverage underutilized mid-range or…

Applying Deep Reinforcement Learning (DRL) to complex tasks in the field of robotics has proven to be very successful in the recent years. However, most of the publications focus either on applying it to a task in simulation or to a task in…

Optimizing accelerator control is a critical challenge in experimental particle physics, requiring significant manual effort and resource expenditure. Traditional tuning methods are often time-consuming and reliant on expert input,…

Deep reinforcement learning (deep RL) holds the promise of automating the acquisition of complex controllers that can map sensory inputs directly to low-level actions. In the domain of robotic locomotion, deep RL could enable learning…

We present a novel reinforcement learning method to train the quadruped robot in a simulated environment. The idea of controlling quadruped robots in a dynamic environment is quite challenging and my method presents the optimum policy and…

Transformer models have achieved state-of-the-art performance on various domains of applications and gradually becomes the foundations of the advanced large deep learning (DL) models. However, how to train these models over multiple GPUs…

Shifting from traditional control strategies to Deep Reinforcement Learning (RL) for legged robots poses inherent challenges, especially when addressing real-world physical constraints during training. While high-fidelity simulations…