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.
A unified mpc framework for whole-body dynamic locomotion and manipula- tion,
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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.
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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.