相关论文: ManiSkill3: GPU Parallelized Robotics Simulation a…

Simultaneous Localization and Mapping (SLAM) with dense representation plays a key role in robotics, Virtual Reality (VR), and Augmented Reality (AR) applications. Recent advancements in dense representation SLAM have highlighted the…

3D Gaussian Splatting (3DGS) is increasingly attracting attention in both academia and industry owing to its superior visual quality and rendering speed. However, training a 3DGS model remains a time-intensive task, especially in load…

Graph Neural Networks (GNNs) have shown great superiority on non-Euclidean graph data, achieving ground-breaking performance on various graph-related tasks. As a practical solution to train GNN on large graphs with billions of nodes and…

Reduction operations are extensively employed in many computational problems. A reduction consists of, given a finite set of numeric elements, combining into a single value all elements in that set, using for this a combiner function. A…

Graph neural networks (GNNs), an emerging class of machine learning models for graphs, have gained popularity for their superior performance in various graph analytical tasks. Mini-batch training is commonly used to train GNNs on large…

Immersed boundary methods (IBMs) facilitate the simulation of flows around stationary, moving, and deforming bodies on Cartesian grids. However, extending these simulations to the large grid sizes required for realistic flow problems…

The success of Transformer models has pushed the deep learning model scale to billions of parameters. Due to the limited memory resource of a single GPU, However, the best practice for choosing the optimal parallel strategy is still…

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…

In Robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it and analyze its traversability. To allow for real-time execution on constrained…

Enabling humanoid robots to perform agile and adaptive interactive tasks has long been a core challenge in robotics. Current approaches are bottlenecked by either the scarcity of realistic interaction data or the need for meticulous,…

3D rendering of dynamic face captures is a challenging problem, and it demands improvements on several fronts$\unicode{x2014}$photorealism, efficiency, compatibility, and configurability. We present a novel representation that enables…

Recent advancements in neural rendering technologies and their supporting devices have paved the way for immersive 3D experiences, significantly transforming human interaction with intelligent devices across diverse applications. However,…

3D Gaussian Splatting has shown fast and high-quality rendering results in static scenes by leveraging dense 3D prior and explicit representations. Unfortunately, the benefits of the prior and representation do not involve novel view…

Recent progress of video diffusion models have enabled extensive simulation of the physical world. While simulation with hand object interaction has been less explored. We propose DexSIM, a dexterous simulation framework for simulating…

This work explores techniques to scale up image-based end-to-end learning for dexterous grasping with an arm + hand system. Unlike state-based RL, vision-based RL is much more memory inefficient, resulting in relatively low batch sizes,…

Computational fluid dynamics and fluid-structure interaction simulations involving moving and deforming bodies is extremely hard. In this work, we present a graphical processing unit (GPU) optimized implementation of the sharp-interface…

In non-linear systems, where explicit analytic solutions usually can't be found, visualisation is a powerful approach which can give insights into the dynamical behaviour of models; it is also crucial for teaching this area of mathematics.…

Large-scale molecular dynamics simulations with high accuracy have been increasingly popular for their capability to bridge the gap between atomistic modeling and mesoscale phenomena. Both machine learning potentials and enhanced sampling…

Real-world data collection for robotics is costly and resource-intensive, requiring skilled operators and expensive hardware. Simulations offer a scalable alternative but often fail to achieve sim-to-real generalization due to geometric and…

Achieving real-time physics-based animation that generalizes across diverse 3D shapes and discretizations remains a fundamental challenge. We introduce PhysSkin, a physics-informed framework that addresses this challenge. In the spirit of…