相关论文: Isaac Gym: High Performance GPU-Based Physics Simu…

In recent years, both reinforcement learning and learning-based control -- as well as the study of their safety, which is crucial for deployment in real-world robots -- have gained significant traction. However, to adequately gauge the…

In this work, we present and study a training set-up that achieves fast policy generation for real-world robotic tasks by using massive parallelism on a single workstation GPU. We analyze and discuss the impact of different training…

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…

We propose a novel iterative approach for crossing the reality gap that utilises live robot rollouts and differentiable physics. Our method, RealityGrad, demonstrates for the first time, an efficient sim2real transfer in combination with a…

The rise of embodied AI has greatly improved the possibility of general mobile agent systems. At present, many evaluation platforms with rich scenes, high visual fidelity and various application scenarios have been developed. In this paper,…

Escalating artificial intelligence (AI) demands expose a critical "compute crisis" characterized by unsustainable energy consumption, prohibitive training costs, and the approaching limits of conventional CMOS scaling. Physics-based…

We introduce a particle-based simulation method for granular material in interactive frame rates. We divide the simulation into two decoupled steps. In the first step, a relatively small number of particles is accurately simulated with a…

Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real-world dynamics remains a significant challenge, especially…

This letter introduces DiffAero, a lightweight, GPU-accelerated, and fully differentiable simulation framework designed for efficient quadrotor control policy learning. DiffAero supports both environment-level and agent-level parallelism…

Large model training beyond tens of thousands of GPUs is an uncharted territory. At such scales, disruptions to the training process are not a matter of if, but a matter of when -- a stochastic process degrading training productivity.…

Real time processing for teamwork action recognition is a challenge, due to complex computational models to achieve high system performance. Hence, this paper proposes a framework based on Graphical Processing Units (GPUs) to achieve a…

This dissertation presents the design, implementation and evaluation of GPU-accelerated simulation frameworks for Evolutionary Spatial Cyclic Games (ESCGs), a class of agent-based models used to study ecological and evolutionary dynamics.…

Realistic simulation is critical for applications ranging from robotics to animation. Learned simulators have emerged as a possibility to capture real world physics directly from video data, but very often require privileged information…

Deep learning researchers and practitioners usually leverage GPUs to help train their deep neural networks (DNNs) faster. However, choosing which GPU to use is challenging both because (i) there are many options, and (ii) users grapple with…

Processing-in-memory (PIM) has shown extraordinary potential in accelerating neural networks. To evaluate the performance of PIM accelerators, we present an ISA-based simulation framework including a dedicated ISA targeting neural networks…

Simulated virtual environments serve as one of the main driving forces behind developing and evaluating skill learning algorithms. However, existing environments typically only simulate rigid body physics. Additionally, the simulation…

Accurately modeling soft robots in simulation is computationally expensive and commonly falls short of representing the real world. This well-known discrepancy, known as the sim-to-real gap, can have several causes, such as coarsely…

We propose a deep reinforcement learning approach for solving a mapless navigation problem in warehouse scenarios. In our approach, an automation guided vehicle is equipped with LiDAR and frontal RGB sensors and learns to perform a targeted…

Training machine learning algorithms is a computationally intensive process, which is frequently memory-bound due to repeatedly accessing large training datasets. As a result, processor-centric systems (e.g., CPU, GPU) suffer from costly…

Sim-and-real training is a promising alternative to sim-to-real training for robot manipulations. However, the current sim-and-real training is neither efficient, i.e., slow convergence to the optimal policy, nor effective, i.e., sizeable…