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

Optimizing the injection process in particle accelerators is crucial for enhancing beam quality and operational efficiency. This paper presents a framework for utilizing Reinforcement Learning (RL) to optimize the injection process at…

Particle robots are novel biologically-inspired robotic systems where locomotion can be achieved collectively and robustly, but not independently. While its control is currently limited to a hand-crafted policy for basic locomotion tasks,…

We propose a novel GPU-cluster scheduler for distributed DL (DDL) workloads that enables proximity based consolidation of GPU resources based on the DDL jobs' sensitivities to the anticipated communication-network delays. Our scheduler…

We investigate whether Deep Reinforcement Learning (Deep RL) is able to synthesize sophisticated and safe movement skills for a low-cost, miniature humanoid robot that can be composed into complex behavioral strategies in dynamic…

Recent progress in GPU-accelerated, photorealistic simulation has opened a scalable data-generation path for robot learning, where massive physics and visual randomization allow policies to generalize beyond curated environments. Building…

Enhancing the reasoning capabilities of large language models (LLMs) typically relies on massive computational resources and extensive datasets, limiting accessibility for resource-constrained settings. Our study investigates the potential…

Deep Reinforcement Learning (or just "RL") is gaining popularity for industrial and research applications. However, it still suffers from some key limits slowing down its widespread adoption. Its performance is sensitive to initial…

Reinforcement learning (RL) has become central to training large language models (LLMs), yet the field lacks predictive scaling methodologies comparable to those established for pre-training. Despite rapidly rising compute budgets, there is…

Reproducing the diverse and agile locomotion skills of animals has been a longstanding challenge in robotics. While manually-designed controllers have been able to emulate many complex behaviors, building such controllers involves a…

Bipedal walking is one of the most difficult but exciting challenges in robotics. The difficulties arise from the complexity of high-dimensional dynamics, sensing and actuation limitations combined with real-time and computational…

Reinforcement Learning (RL) is increasingly applied to large-scale decision-making problems like logistics, scheduling, and recommender systems, but existing algorithms struggle with the curse of dimensionality in such large discrete action…

Recent expeditious developments in deep learning algorithms, distributed training, and even hardware design for large models have enabled training extreme-scale models, say GPT-3 and Switch Transformer possessing hundreds of billions or…

We present a model-based framework for robot locomotion that achieves walking based on only 4.5 minutes (45,000 control steps) of data collected on a quadruped robot. To accurately model the robot's dynamics over a long horizon, we…

Deep reinforcement learning (deep RL) has achieved superior performance in complex sequential tasks by using a deep neural network as its function approximator and by learning directly from raw images. A drawback of using raw images is that…

Deep reinforcement learning has emerged as a popular and powerful way to develop locomotion controllers for quadruped robots. Common approaches have largely focused on learning actions directly in joint space, or learning to modify and…

Achieving highly dynamic behaviors on humanoid robots, such as running, requires controllers that are both robust and precise, and hence difficult to design. Classical control methods offer valuable insight into how such systems can…

Training Large Language Models(LLMs) is one of the most compute-intensive tasks in high-performance computing. Predicting end-to-end training time for multi-billion parameter models distributed across hundreds of GPUs remains challenging…

Training massive-scale deep learning models on datasets spanning tens of terabytes presents critical challenges in hardware utilization and training reproducibility. In this paper, we identify and resolve profound data-loading bottlenecks…

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,…

We present Megaverse, a new 3D simulation platform for reinforcement learning and embodied AI research. The efficient design of our engine enables physics-based simulation with high-dimensional egocentric observations at more than 1,000,000…