相关论文: cuRobo: Parallelized Collision-Free Minimum-Jerk R…

This paper presents \pandora, a novel parallel algorithm for efficiently constructing dendrograms for single-linkage hierarchical clustering, including \hdbscan. Traditional dendrogram construction methods from a minimum spanning tree…

Problems from graph drawing, spectral clustering, network flow and graph partitioning can all be expressed in terms of graph Laplacian matrices. There are a variety of practical approaches to solving these problems in serial. However, as…

In view of the existing limitations of sequential computing, parallelization has emerged as an alternative in order to improve the speedup of numerical simulations. In the framework of evolutionary problems, space-time parallel methods…

Mechanical assemblies can exhibit complex relative motions, during which collisions between moving parts and their surroundings must be avoided. To define feasible design spaces for each part's shape, "maximal" collision-free pointsets can…

We present a GPU-accelerated backend for QOCO, a C-based solver for quadratic objective second-order cone programs (SOCPs) based on a primal-dual interior point method. Our backend uses NVIDIA's cuDSS library to perform a direct sparse LDL…

Generation of robust trajectories for legged robots remains a challenging task due to the underlying nonlinear, hybrid and intrinsically unstable dynamics which needs to be stabilized through limited contact forces. Furthermore,…

Contact-implicit trajectory optimization (CITO) enables the automatic discovery of contact sequences, but most methods rely on fine time discretization to capture all contact events accurately, which increases problem size and runtime while…

We present a novel convex formulation that weakly couples the Material Point Method (MPM) with rigid body dynamics through frictional contact, optimized for efficient GPU parallelization. Our approach features an asynchronous time-splitting…

We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…

Transformer models have achieved state-of-the-art performance on various domains of applications and gradually becomes the foundations of the advanced large deep learning (DL) models. However, how to train these models over multiple GPUs…

We present a distributed parallel mesh curving method for virtual geometry. The main application is to generate large-scale curved meshes on complex geometry suitable for analysis with unstructured high-order methods. Accordingly, we devise…

Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…

Modern tensor applications, especially foundation models and generative AI applications require multiple input modalities (both vision and language), which increases the demand for flexible accelerator architecture. Existing frameworks…

We propose a GPU-based distributed optimization algorithm, aimed at controlling optimal power flow in multi-phase and unbalanced distribution systems. Typically, conventional distributed optimization algorithms employed in such scenarios…

Design requirements for moving parts in mechanical assemblies are typically specified in terms of interactions with other parts. Some are purely kinematic (e.g., pairwise collision avoidance) while others depend on physics and material…

A novel decentralised trajectory generation algorithm for Multi Agent systems is presented. Multi-robot systems have the capacity to transform lives in a variety of fields. But, trajectory generation for multi-robot systems is still in its…

Current methods for solving Stochastic Shortest Path Problems (SSPs) find states' costs-to-go by applying Bellman backups, where state-of-the-art methods employ heuristics to select states to back up and prune. A fundamental limitation of…

We study the computational complexity of the recently proposed nubot model of molecular-scale self-assembly. The model generalises asynchronous cellular automata to have non-local movement where large assemblies of molecules can be pushed…

In this paper we present the PUMP (Parallel Uncertainty-aware Multiobjective Planning) algorithm for addressing the stochastic kinodynamic motion planning problem, whereby one seeks a low-cost, dynamically-feasible motion plan subject to a…

Real-time generative game engines represent a paradigm shift in interactive simulation, promising to replace traditional graphics pipelines with neural world models. However, existing approaches are fundamentally constrained by the ``Memory…