COSMIK-MPPI delivers 100% task success and fixed 22 ms runtime for safe robot-human collision avoidance by terminating constraint-violating trajectories instead of penalizing them.
The pinocchio c++ library: A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives
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GATO is a new batched GPU trajectory optimization solver that achieves real-time MPC throughput with 18-21x speedups over CPU baselines for tens to low-hundreds of simultaneous solves.
PRIME is a MAP optimization framework that refines onboard kinematics into dynamically consistent trajectories for legged robots while jointly estimating contact forces and inertial parameters using differentiable smoothed contact dynamics.
citing papers explorer
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COSMIK-MPPI: Scaling Constrained Model Predictive Control to Collision Avoidance in Close-Proximity Dynamic Human Environments
COSMIK-MPPI delivers 100% task success and fixed 22 ms runtime for safe robot-human collision avoidance by terminating constraint-violating trajectories instead of penalizing them.
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GATO: GPU-Accelerated and Batched Trajectory Optimization for Scalable Edge Model Predictive Control
GATO is a new batched GPU trajectory optimization solver that achieves real-time MPC throughput with 18-21x speedups over CPU baselines for tens to low-hundreds of simultaneous solves.
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PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots
PRIME is a MAP optimization framework that refines onboard kinematics into dynamically consistent trajectories for legged robots while jointly estimating contact forces and inertial parameters using differentiable smoothed contact dynamics.