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

Approximate computing methods have shown great potential for deep learning. Due to the reduced hardware costs, these methods are especially suitable for inference tasks on battery-operated devices that are constrained by their power budget.…

Autonomous learning has been a promising direction in control and robotics for more than a decade since data-driven learning allows to reduce the amount of engineering knowledge, which is otherwise required. However, autonomous…

A Multigrid Full Approximation Storage algorithm for solving Deep Residual Networks is developed to enable neural network parallelized layer-wise training and concurrent computational kernel execution on GPUs. This work demonstrates a 10.2x…

With an increasing demand for training powers for deep learning algorithms and the rapid growth of computation resources in data centers, it is desirable to dynamically schedule different distributed deep learning tasks to maximize resource…

We investigate applicability of GPU to DEM. NVIDIA's code obtained superior performance than CPU in computational time. A model of contact forces in NVIDIA's code is too simple for practical use. We modify this model by replacing it with…

The training of Deep Neural Networks usually needs tremendous computing resources. Therefore many deep models are trained in large cluster instead of single machine or GPU. Though major researchs at present try to run whole model on all…

Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and…

Reinforcement Learning (RL) training is predominantly conducted in cost-effective and controlled simulation environments. However, the transfer of these trained models to real-world tasks often presents unavoidable challenges. This research…

Reinforcement learning (RL) is a foundation of learning in biological systems and provides a framework to address numerous challenges with real-world artificial intelligence applications. Efficient implementations of RL techniques could…

Deep reinforcement learning has led to dramatic breakthroughs in the field of artificial intelligence for the past few years. As the amount of rollout experience data and the size of neural networks for deep reinforcement learning have…

An important challenge in robotics is understanding the interactions between robots and deformable terrains that consist of granular material. Granular flows and their interactions with rigid bodies still pose several open questions. A…

Learning-based methods have proven useful at generating complex motions for robots, including humanoids. Reinforcement learning (RL) has been used to learn locomotion policies, some of which leverage a periodic reward formulation. This work…

Deep reinforcement learning (deep RL) has achieved superior performance in complex sequential tasks by using deep neural networks as function approximators to learn directly from raw input images. However, learning directly from raw images…

Graph embedding techniques have attracted growing interest since they convert the graph data into continuous and low-dimensional space. Effective graph analytic provides users a deeper understanding of what is behind the data and thus can…

Graph Neural Networks (GNNs) show strong promise for circuit analysis, but scaling to modern large-scale circuit graphs is limited by GPU memory and training cost, especially for deep models. We revisit deep GNNs for circuit graphs and show…

The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction…

GPU activity prediction is an important and complex problem. This is due to the high level of contention among thousands of parallel threads. This problem was mostly addressed using heuristics. We propose a representation learning approach…

Autonomous robots are increasingly prevalent in our society, emerging in medical care, transportation vehicles, and home assistance. These robots rely on motion planning and collision detection to identify a sequence of movements allowing…

To alleviate hardware scarcity in training large deep neural networks (DNNs), particularly large language models (LLMs), we present FusionLLM, a decentralized training system designed and implemented for training DNNs using geo-distributed…

Data loading can dominate deep neural network training time on large-scale systems. We present a comprehensive study on accelerating data loading performance in large-scale distributed training. We first identify performance and scalability…