相关论文: GPU Parallelization of Policy Iteration RRT#

Massively parallel GPU simulation environments have accelerated reinforcement learning (RL) research by enabling fast data collection for on-policy RL algorithms like Proximal Policy Optimization (PPO). To maximize throughput, it is common…

In this paper, we present the Parallel Quantum Rapidly-Exploring Random Tree (Pq-RRT) algorithm, a parallel version of the Quantum Rapidly-Exploring Random Trees (q-RRT) algorithm. Parallel Quantum RRT is a parallel quantum algorithm…

In this paper we propose a new family of RRT based algorithms, named RRT+ , that are able to find faster solutions in high-dimensional configuration spaces compared to other existing RRT variants by finding paths in lower dimensional…

Scheduling query execution plans is a particularly complex problem in shared-nothing parallel systems, where each site consists of a collection of local time-shared (e.g., CPU(s) or disk(s)) and space-shared (e.g., memory) resources and…

In this work, we optimize speculative sampling for parallel hardware accelerators to improve sampling speed. We notice that substantial portions of the intermediate matrices necessary for speculative sampling can be computed concurrently.…

Large reasoning models (LRMs) excel at complex reasoning tasks but typically generate lengthy sequential chains-of-thought, resulting in long inference times before arriving at the final answer. To address this challenge, we introduce…

Parallel programming models can encourage performance portability by moving the responsibility for work assignment and data distribution from the programmer to a runtime system. However, analyzing the resulting implicit memory allocations,…

Since the introduction of the GRPO algorithm, reinforcement learning (RL) has attracted increasing attention for LLM post-training, yet training efficiency remains a critical challenge. In mainstream RL frameworks, inference and training…

Graphics Processing Units (GPUs) have become the standard in accelerating scientific applications on heterogeneous systems. However, as GPUs are getting faster, one potential performance bottleneck with GPU-accelerated applications is the…

Sampling-based motion planning has emerged as a powerful approach for robotics, enabling exploration of complex, high-dimensional configuration spaces. When combined with Signal Temporal Logic (STL), a temporal logic widely used for…

Path planning is an active area of research essential for many applications in robotics. Popular techniques include graph-based searches and sampling-based planners. These approaches are powerful but have limitations. This paper continues…

Linear-time algorithms that are traditionally used to shuffle data on CPUs, such as the method of Fisher-Yates, are not well suited to implementation on GPUs due to inherent sequential dependencies, and existing parallel shuffling…

Current AI code generation systems suffer from significant latency bottlenecks due to CPU-GPU data transfers during compilation, execution, and testing phases. We establish theoretical foundations for three complementary approaches to…

Classical sampling-based motion planners like the RRTs suffer from inefficiencies, particularly in cluttered or high-dimensional spaces, due to their reliance on undirected, random sampling. This paper introduces the Episodic RRT, a novel…

In this work, we propose a computationally efficient algorithm for visual policy learning that leverages differentiable simulation and first-order analytical policy gradients. Our approach decouple the rendering process from the computation…

Due to their highly parallel multi-cores architecture, GPUs are being increasingly used in a wide range of computationally intensive applications. Compared to CPUs, GPUs can achieve higher performances at accelerating the programs'…

With the rapid development of safety-critical applications such as autonomous driving and embodied intelligence, the functional safety of the corresponding electronic chips becomes more critical. Ensuring chip functional safety requires…

Efficient large-scale inference of transformer-based large language models (LLMs) remains a fundamental systems challenge, frequently requiring multi-GPU parallelism to meet stringent latency and throughput targets. Conventional tensor…

Efficiently finding safe and feasible trajectories for mobile objects is a critical field in robotics and computer science. In this paper, we propose SIL-RRT*, a novel learning-based motion planning algorithm that extends the RRT* algorithm…

Dynamic parallelism on GPUs allows GPU threads to dynamically launch other GPU threads. It is useful in applications with nested parallelism, particularly where the amount of nested parallelism is irregular and cannot be predicted…