相关论文: Surgical Gym: A high-performance GPU-based platfor…

Nowadays, realistic simulation environments are essential to validate and build reliable robotic solutions. This is particularly true when using Reinforcement Learning (RL) based control policies. To this end, both robotics and RL…

Reinforcement Learning (RL) trains agents to learn optimal behavior by maximizing reward signals from experience datasets. However, RL training often faces memory limitations, leading to execution latencies and prolonged training times. To…

In this paper, we present our approach to solve a physics-based reinforcement learning challenge "Learning to Run" with objective to train physiologically-based human model to navigate a complex obstacle course as quickly as possible. The…

Automating a robotic task, e.g., robotic suturing can be very complex and time-consuming. Learning a task model to autonomously perform the task is invaluable making the technology, robotic surgery, accessible for a wider community. The…

The emergence of mobile robotics, particularly in the automotive industry, introduces a promising era of enriched user experiences and adept handling of complex navigation challenges. The realization of these advancements necessitates a…

Deep reinforcement learning has proven remarkably useful in training agents from unstructured data. However, the opacity of the produced agents makes it difficult to ensure that they adhere to various requirements posed by human engineers.…

Robot-assisted intervention has shown reduced radiation exposure to physicians and improved precision in clinical trials. However, existing vascular robotic systems follow master-slave control mode and entirely rely on manual commands. This…

Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…

We introduce Slam, a recipe for training high-quality Speech Language Models (SLMs) on a single academic GPU in 24 hours. We do so through empirical analysis of model initialisation and architecture, synthetic training data, preference…

Surgical simulation offers a promising addition to conventional surgical training. However, available simulation tools lack photorealism and rely on hardcoded behaviour. Denoising Diffusion Models are a promising alternative for…

This paper presents a novel neural network architecture for the purpose of pervasive visualisation of a 3D human upper limb musculoskeletal system model. Bringing simulation capabilities to resource-poor systems like mobile devices is of…

Recently, spatiotemporal graphs have emerged as a concise and elegant manner of representing video clips in an object-centric fashion, and have shown to be useful for downstream tasks such as action recognition. In this work, we investigate…

This work proves that semantic segmentation on minimally invasive surgical instruments can be improved by using training data that has been augmented through domain adaptation. The benefit of this method is twofold. Firstly, it suppresses…

GPU-based heterogeneous architectures are now commonly used in HPC clusters. Due to their architectural simplicity specialized for data-level parallelism, GPUs can offer much higher computational throughput and memory bandwidth than CPUs in…

Recent work has demonstrated the ability of deep reinforcement learning (RL) algorithms to learn complex robotic behaviours in simulation, including in the domain of multi-fingered manipulation. However, such models can be challenging to…

Deep Reinforcement Learning (DRL) underlies in a simulated environment and optimizes objective goals. By extending the conventional interaction scheme, this paper proffers gym-ds3, a scalable and reproducible open environment tailored for a…

Motivated by the current demand of clinical governance, surgical simulation is now a well-established modality for basic skills training and assessment. The practical deployment of the technique is a multi-disciplinary venture encompassing…

Deep learning training is an expensive process that extensively uses GPUs, but not all model training saturates modern powerful GPUs. Multi-Instance GPU (MIG) is a new technology introduced by NVIDIA that can partition a GPU to better-fit…

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.…

Given the task of learning robotic grasping solely based on a depth camera input and gripper force feedback, we derive a learning algorithm from an applied point of view to significantly reduce the amount of required training data. Major…