{"id":1239,"date":"2023-06-15T10:09:56","date_gmt":"2023-06-15T09:09:56","guid":{"rendered":"https:\/\/babel.isa.uma.es\/kipr\/?p=1239"},"modified":"2023-06-15T10:09:56","modified_gmt":"2023-06-15T09:09:56","slug":"a-new-contribution-along-the-despot-line-focused-on-hybrid-cpugpu-platforms","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=1239","title":{"rendered":"A new contribution along the DESPOT line focused on hybrid CPU+GPU platforms"},"content":{"rendered":"<h4>Cai P, Luo Y, Hsu D, Lee WS., <strong>HyP-DESPOT: A hybrid parallel algorithm for online planning under uncertainty,<\/strong>  The International Journal of Robotics Research. 2021;40(2-3):558-573, <a href=\"https:\/\/doi.org\/10.1177\/0278364920937074\" target=\"_blank\">DOI: 10.1177\/0278364920937074<\/a>.<\/h4>\n<blockquote><p>Robust planning under uncertainty is critical for robots in uncertain, dynamic environments, but incurs high computational cost. State-of-the-art online search algorithms, such as DESPOT, have vastly improved the computational efficiency of planning under uncertainty and made it a valuable tool for robotics in practice. This work takes one step further by leveraging both CPU and GPU parallelization in order to achieve real-time online planning performance for complex tasks with large state, action, and observation spaces. Specifically, Hybrid Parallel DESPOT (HyP-DESPOT) is a massively parallel online planning algorithm that integrates CPU and GPU parallelism in a multi-level scheme. It performs parallel DESPOT tree search by simultaneously traversing multiple independent paths using multi-core CPUs; it performs parallel Monte Carlo simulations at the leaf nodes of the search tree using GPUs. HyP-DESPOT provably converges in finite time under moderate conditions and guarantees near-optimality of the solution. Experimental results show that HyP-DESPOT speeds up online planning by up to a factor of several hundred in several challenging robotic tasks in simulation, compared with the original DESPOT algorithm. It also exhibits real-time performance on a robot vehicle navigating among many pedestrians.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>Cai P, Luo Y, Hsu D, Lee WS., HyP-DESPOT: A hybrid parallel algorithm for online planning under uncertainty, The International <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=1239\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[91],"tags":[436,223,402],"class_list":["post-1239","post","type-post","status-publish","format-standard","hentry","category-robot-task-planning","tag-despot","tag-gpus","tag-monte-carlo-pomdps"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1239"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1239"}],"version-history":[{"count":1,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1239\/revisions"}],"predecessor-version":[{"id":1240,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1239\/revisions\/1240"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1239"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1239"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1239"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}