17 citations · 43 across the 15 of their papers we have counts for
9 papers · 1 filter
GLASS: Architecture-Tuned, Composable, Device-Side Linear Algebra for Edge Robotics and Beyond
Brian Plancher
GPU robotics lacks the reusable numerical infrastructure of mature CPU stacks, instead relying on compiler frameworks that introduce overhead or repeatedly reimplementing numerical…
MPC-Injection: Biasing Off-Policy Locomotion RL Toward Controller-Induced Behavior Basins
Roy Xing, Seyoung Ree, Brian Plancher
Reinforcement learning (RL) for locomotion frequently converges to locally optimal but undeployable behaviors, such as vibrating limbs or scooting on the torso, that maximize retur…
TurboMPC: Fast, Scalable, and Differentiable Model Predictive Control on the GPU
Gabriel Bravo-Palacios, Jianghan Zhang, Zachary Pestrikov +2
Robotics increasingly relies on GPUs for parallel simulation, large-scale learning, and neural-network inference. For model predictive control (MPC) to scale with this paradigm, so…
ASCII Art Turns LLMs into VLA Controllers
Yitao Jiang, Roy Xing, Luyang Zhao +3
Vision--Language--Action (VLA) controllers are often built by extending vision--language models (VLMs) with action supervision, relying on multimodal backbones with large data and…
RobotPerf: An Open-Source, Vendor-Agnostic, Benchmarking Suite for Evaluating Robotics Computing System Performance
Víctor Mayoral-Vilches, Jason Jabbour, Yu-Shun Hsiao +16
We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its com…
RobotCore: An Open Architecture for Hardware Acceleration in ROS 2
Víctor Mayoral-Vilches, Sabrina M. Neuman, Brian Plancher +1
Hardware acceleration can revolutionize robotics, enabling new applications by speeding up robot response times while remaining power-efficient. However, the diversity of accelerat…
GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients
Brian Plancher, Sabrina M. Neuman, Radhika Ghosal +2
We introduce GRiD: a GPU-accelerated library for computing rigid body dynamics with analytical gradients. GRiD was designed to accelerate the nonlinear trajectory optimization subp…
RoboRun: A Robot Runtime to Exploit Spatial Heterogeneity
Behzad Boroujerdian, Radhika Ghosal, Jonathan Cruz +2
The limited onboard energy of autonomous mobile robots poses a tremendous challenge for practical deployment. Hence, efficient computing solutions are imperative. A crucial shortco…
The Role of Compute in Autonomous Aerial Vehicles
Behzad Boroujerdian, Hasan Genc, Srivatsan Krishnan +7
Autonomous-mobile cyber-physical machines are part of our future. Specifically, unmanned-aerial-vehicles have seen a resurgence in activity with use-cases such as package delivery.…