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Robotic planning of liquid handling. There are many potential alternative ways to achieve the same result, each resulting in its own computation graph. I imagi
by arogozhnikov 3y ago
Robotic planning of liquid handling. There are many potential alternative ways to achieve the same result, each resulting in its own computation graph.
I imagine any kind of trajectory planning for many agents faces similar challenges (e.g. robots in a factory).
- 317070 3y agoBut these computation graphs are similar every time. You would/should write these as a small graph with conditionals on large tensors, not as a fast changing graph of scalars. The latter will always be slower when you have an accelerator like a GPU.
- arogozhnikov 3y ago> But these computation graphs are similar every time. For now I'm testing one-after-another because failure of previous (overflow, too-small-transfer, etc) gives a hint about which part can be changed in the graph. I've been thinking about vectorizing over multiple guesses at once, but don't see a fast reliable way to merge several graphs (also that induces significant burden on other parts of the project - autograd is just one component).