Example WDF Circuit Model chowdsp_wdf wd_models RT-WDF LPF-2 0.3319 0.7685 3.141 FF-2 2.035 2.083 11.538 Diode Clipper 1.905 5.756 N/A Bassman Tone Stack 0.6576 0.7411 7.92 Baxandall EQ 1.184 1.021 We can construct a model of this circuit using a wave digital voltage source, resistor, and capacitor, all connected with a series adaptor. Real-Time Circuit Simulation with Wave Digital Filters in C++ sound-processing algorithms. Given that audio effects are typically required to run in “real-time”, traditional circuit modelling softwares (e.g. LTSpice) are typically not suitable for this purpose. Wave

Inc.iZotope real-time audio plug-ins | music, film, television, and radio iZotope Inc.iZotope real-time audio plug-ins | music, film, television, and radio iZotope Inc.iZotope real-time audio plug-ins plug-ins | music, film, television, and radio iZotope Inc.iZotope real-time audio plug-ins | music, film, television, and radio iZotope Inc.Glass Properties Making a legacy run-time system compile-time safe - Hosts can call us from any thread - Each host may do this this differently Challenges for real-time audio plug-ins Confidential property of iZotope Inc.Canvas (ca. 2002)JUCE (ca. 2004) Canvas

allow for the creation and management of task graphs - Large-scale circuit simulation workload • State-of-the-art CPU-GPU circuit simulator, RTLflow 75Experimental Results – Microbenchmarks (a) Linear Fixed-runtime task Both Taro and Boost::Fiber achieve the best results 80Experimental Results – Circuit Simulation Workload Evaluate design Set inputs Evaluate design Set inputs CPU operation GPU operation operation … … … A task graph that consists of multiple parallel lines 81Experimental Results – Circuit Simulation Workload Taro achieve 1.7x speed-up over the state-of-the-art simulator RTLflow Achieved

approach (SIL). Events can be: a. Sending/receiving a message b. A timer that expired 6. Test simulation scenarios in the CI© 2023 Apex.AI, Inc. | All rights reserved. Apex.AI, Apex.OS, Apex.Grace, not suitable for hard real time systems These changes are needed to bridge this gap to enable real-time behavior What is missing?© 2023 Apex.AI, Inc. | All rights reserved. Apex.AI, Apex.OS, Apex.Grace What is missing? 14 ROS is not actively tested against a real-time operating system (RTOS) on production grade ECUs, thus its real-time suitability is not guaranteed. To the contrary, the ROS implementation

Establishing a culture of safety at scale56 Aurora Innovation Custom comparison rules Language Agnostic Real-Time Feedback 3.8 Actual value Version v5.1 3.9 Previous value Version v2.0 Value passes minimum to developer feedback cycles. Track the effectiveness of existing testing practices. Extract real-time insights about software development life- cycle.68 Aurora Innovation Learning what to test Good Integration Tests Simulation Tests Perception Scenarios Hardware-in-The-Loop Tests On-vehicle Tests75 Aurora Innovation Simulation Tests 60,000 CPUs utilized each hour 6 million Simulation runs per day

been doing robotics for 20 years: ○ Humanoid robots: locomotion algorithms, hardware design, simulation ○ Wheeled robots: navigation, localization, 3D perception ○ Robotic arms: control, motion planning ○ ConsoleLogger, FileLogger, SQLiteLogger. ● You can publish the current state of the tree in real-time to an external process (GUI). ● Collect statistics about the execution of the tree and the actions

term Blocking I/O 106 Data to be loaded in the background in a buffer Data loadedAsync I/O Simulation (1/5) ● “mocked” version of using an async thread to load data ○ We spawn a ‘background thread’ has returned ○ (I have added a few artificial sleeps to make it more interesting) 107Async I/O Simulation ● “mocked” version of using an async thread to load data ○ We spawn a ‘background thread’ asynchronously there is a ‘status’ that we’ll keep track of so we know when a value has been returnedAsync I/O Simulation ● “mocked” version of using an async thread to load data ○ We spawn a ‘background thread’ asynchronously

Initialization I/O ECS Physics Rendering Audio Simulation Rendering AudioStart End Initialization I/O ECS Physics Rendering Audio Simulation Rendering AudioInitialization ● Environment Variables How to: Colony - Matthew BentleyStart End Initialization I/O ECS Physics Rendering Audio Simulation Rendering AudioSimulation Imagine our hypothetical game is 3D with a vast world. Multiple systems entities that we can send to the GPU.Start End Initialization I/O ECS Physics Rendering Audio Simulation Rendering AudioRendering The renderer receives a list of items to process. Then what? Responsibilities

from 2005, which goes way further than ATOM and is worth reading.Embra Fast and Flexible Machine Simulation A simulator for the processors, caches, and memory systems of uniprocessors and cache-coherent stall time of a workload, at slowdowns of only a factor of 7 to 20. — 1996 (read 3 paragraphs) Simulation is the process of running native executable machine code for one architecture on another architecture binary. Embra simulates MIPS R3000/ R4000 on SGI IRIX. (cont’d)Embra Fast and Flexible Machine Simulation — 1996 A simulator for the processors, caches, and memory systems of uniprocessors and cache-coherent

Summary ● Introduction ● Why is it hard? ● Why deterministic simulation? ● What is rollback? ● Implementation details ● Debugging ● ImprovementsElias Farhan ● Head Instructor of Games Programming frame and current frameData sent through the networkDeterministic simulationWith a deterministic simulation, we mostly need to send player inputs!Deterministic lock-step For example in Age of Empires standard…Conclusion If you want a successful fast-paced online multiplayer experience: ● Deterministic simulation ● Rollback with a simple software architecture ● Debugging desync with checksumReferences ● 8