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  1. Free, publicly-accessible full text available January 1, 2023
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  3. Graph Neural Networks (GNNs) are based on repeated aggregations of information from nodes’ neighbors in a graph. However, because nodes share many neighbors, a naive implementation leads to repeated and inefficient aggregations and represents significant computational overhead. Here we propose Hierarchically Aggregated computation Graphs (HAGs), a new GNN representation technique that explicitly avoids redundancy by managing intermediate aggregation results hierarchically and eliminates repeated computations and unnecessary data transfers in GNN training and inference. HAGs perform the same computations and give the same models/accuracy as traditional GNNs, but in a much shorter time due to optimized computations. To identify redundant computations,more »we introduce an accurate cost function and use a novel search algorithm to find optimized HAGs. Experiments show that the HAG representation significantly outperforms the standard GNN by increasing the end-to-end training throughput by up to 2.8× and reducing the aggregations and data transfers in GNN training by up to 6.3× and 5.6×, with only 0.1% memory overhead. Overall, our results represent an important advancement in speeding-up and scaling-up GNNs without any loss in model predictive performance.« less
  4. In this paper, we investigate the planar dynamic pivoting problem, in which a pinched object is reoriented to a desired pose through wrist swing motion and grip force regulation. Traditional approaches based on friction compensation do not work well for this problem, as we observe the torsional friction at the contact has large uncertainties during pivoting. In addition, the discontinuities of friction and the lower bound constraint on the grip force all make dynamic pivoting a challenging task for robots. To address these problems, we propose a robust control strategy that directly uses friction as a key input for dynamicmore »pivoting, and show that active friction control by regulating the grip force significantly improves system stability. In particular, we embed a Lyapunov-based control law into a quadratic programming framework, which also ensures real-time computational speed and the existence of a solution. The proposed algorithm has been validated on our dynamic pivoting robot that emulates human wrist-finger configuration and motion. The object orientation can quickly converge to the target even under considerable uncertainties from friction and object grasping position, where traditional methods fail.« less
  5. Abstract The accurate simulation of additional interactions at the ATLAS experiment for the analysis of proton–proton collisions delivered by the Large Hadron Collider presents a significant challenge to the computing resources. During the LHC Run 2 (2015–2018), there were up to 70 inelastic interactions per bunch crossing, which need to be accounted for in Monte Carlo (MC) production. In this document, a new method to account for these additional interactions in the simulation chain is described. Instead of sampling the inelastic interactions and adding their energy deposits to a hard-scatter interaction one-by-one, the inelastic interactions are presampled, independent of the hardmore »scatter, and stored as combined events. Consequently, for each hard-scatter interaction, only one such presampled event needs to be added as part of the simulation chain. For the Run 2 simulation chain, with an average of 35 interactions per bunch crossing, this new method provides a substantial reduction in MC production CPU needs of around 20%, while reproducing the properties of the reconstructed quantities relevant for physics analyses with good accuracy.« less
    Free, publicly-accessible full text available December 1, 2023
  6. Abstract The ATLAS experiment at the Large Hadron Collider has a broad physics programme ranging from precision measurements to direct searches for new particles and new interactions, requiring ever larger and ever more accurate datasets of simulated Monte Carlo events. Detector simulation with Geant4 is accurate but requires significant CPU resources. Over the past decade, ATLAS has developed and utilized tools that replace the most CPU-intensive component of the simulation—the calorimeter shower simulation—with faster simulation methods. Here, AtlFast3, the next generation of high-accuracy fast simulation in ATLAS, is introduced. AtlFast3 combines parameterized approaches with machine-learning techniques and is deployed tomore »meet current and future computing challenges, and simulation needs of the ATLAS experiment. With highly accurate performance and significantly improved modelling of substructure within jets, AtlFast3 can simulate large numbers of events for a wide range of physics processes.« less
    Free, publicly-accessible full text available December 1, 2023
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