arXiv subjects

O. Tehrani

Publications and source records attributed to O. Tehrani.

2 recordsLinked to original sources

arXiv2025

GigaAPI for GPU Parallelization

GigaAPI is a user-space API that simplifies multi-GPU programming, bridging the gap between the capabilities of parallel GPU systems and the ability of developers to harness their full potential. The API offers a comprehensive set of functionalities, including fundamental GPU operations, image processing, and complex GPU tasks, abstracting away the intricacies of low-level CUDA and C++ programming. GigaAPI's modular design aims to inspire future NVIDIA researchers to create a generalized, dynamic, extensible, and cross-GPU architecture-compatible API. Through experiments and simulations, we demonstrate the general efficiency gains achieved by leveraging GigaAPI's simplified multi-GPU programming model and showcase our learning experience through setup and other aspects, as we were interested in learning complex CUDA programming and parallelism. We hope that this contributes to the democratization of parallel GPU computing, enabling researchers and practitioners to unlock new possibilities across diverse domains.

cs.DC↗

arXiv2024

Learning Inverse Kinodynamics for Autonomous Vehicle Drifting

In this work, we explore a data-driven learning-based approach to learning the kinodynamic model of a small autonomous vehicle, and observe the effect it has on motion planning, specifically autonomous drifting. When executing a motion plan in the real world, there are numerous causes for error, and what is planned is often not what is executed on the actual car. Learning a kinodynamic planner based off of inertial measurements and executed commands can help us learn the world state. In our case, we look towards the realm of drifting; it is a complex maneuver that requires a smooth enough surface, high enough speed, and a drastic change in velocity. We attempt to learn the kinodynamic model for these drifting maneuvers, and attempt to tighten the slip of the car. Our approach is able to learn a kinodynamic model for high-speed circular navigation, and is able to avoid obstacles on an autonomous drift at high speed by correcting an executed curvature for loose drifts. We seek to adjust our kinodynamic model for success in tighter drifts in future work.

cs.RO↗