In this paper, we study task-oriented human grasp synthesis, a new grasp synthesis task that demands both task and context awareness. At the core of our method is the task-aware contact maps. Unlike traditional contact maps that only reason about the manipulated object and its relation with the hand, our enhanced maps take into account scene and task information. This comprehensive map is critical for hand-object interaction, enabling accurate grasping poses that align with the task.

Hand-object motion-capture (MoCap) repositories offer large-scale, contact-rich demonstrations and hold promise for scaling dexterous robotic manipulation. Yet demonstration inaccuracies and embodiment gaps between human and robot hands limit the straightforward use of these data. Existing methods adopt a three-stage workflow, including retargeting, tracking, and residual correction, which often leaves demonstrations underused and compound errors across stages.

Humans excel at bimanual assembly tasks by adapting to rich tactile feedback—a capability that remains difficult to replicate in robots through behavioral cloning alone, due to the suboptimality and limited diversity of human demonstrations. In this work, we present VT-Refine, a visuo-tactile policy learning framework that combines real-world demonstrations, high-fidelity tactile simulation, and reinforcement learning to tackle precise, contact-rich bimanual assembly. We begin by training a diffusion policy on a small set of demonstrations using synchronized visual and tactile inputs.

We detail the steps required to deploy a multi-user multiple-input multiple-output (MU-MIMO) neural receiver (NRX) in an actual cellular communication system. This raises several exciting research challenges, including the need for real-time inference and compatibility with the 5G NR standard. As the network configuration in a practical setup can change dynamically within milliseconds, we propose an adaptive NRX architecture capable of supporting dynamic modulation and coding scheme (MCS) configurations without the need for any re-training.

Ray tracing (RT) is instrumental in 6G research in order to generate spatially-consistent and environment-specific channel impulse responses (CIRs). While acquiring accurate scene geometries is now relatively straightforward, determining material characteristics requires precise calibration using channel measurements. We therefore introduce a novel gradient-based calibration method, complemented by differentiable parametrizations of material properties, scattering and antenna patterns.

Sionna is an open-source, GPU-accelerated library that, as of version 0.14, incorporates a ray tracer for simulating radio wave propagation. A unique feature of Sionna RT is differentiability, enabling the calculation of gradients for the channel impulse responses (CIRs), radio maps, and other related metrics with respect to system and environmental parameters, such as material properties, antenna patterns, and array geometries. The release of Sionna 1.0 provides a complete overhaul of the ray tracer, significantly improving its speed, memory efficiency, and extensibility.

Adapting the modulation and coding scheme (MCS) to the wireless link quality is critical for maximizing spectral efficiency while ensuring reliability. 

We propose SALAD (self-adaptive link adaptation), an algorithm that exclusively leverages ACK/NACK feedback to reliably track the evolution of the signal-to-interference-plus-noise ratio (SINR), achieving high spectral efficiency while keeping the long-term block error rate (BLER) near a desired target. 

We introduce the NVIDIA Sionna Research Kit, a GPU-accelerated research platform for developing and testing AI/ML algorithms in 5G NR cellular networks. 

Powered by the NVIDIA Jetson AGX Orin, the platform leverages accelerated computing to deliver high throughput and real-time signal processing, while offering the flexibility of a software-defined stack. 

Previous efforts to formally verify code written for GPUs have focused solely on kernels written within the traditional data-parallel GPU programming model. No previous work has considered the higher performance, but more complex, warp-specialized kernels based on producer-consumer named barriers available on current hardware. In this work we present the first formal operational semantics for named barriers and define what it means for a warp-specialized kernel to be correct.