admm 1gpu acceleration 1large-batch optimization 1model predictive control 1sequential quadratic programming 1
From the 1 of 3 linked papers with an AI index.
Showing cs.ROShow all
3 papers · 1 filter
cs.RO2026
WarpMPC: Large-Batch MPC on GPU via ADMM with Unrolled Factorization
Henrik Hose, Se Hwan Jeon, Charles Khazoom +2
The paper introduces WarpMPC, a GPU‑accelerated toolbox that speeds up large‑batch model predictive control by unrolling sparse LDLᵀ factorizations within an ADMM solver, achieving…
cs.RO2024
Tailoring Solution Accuracy for Fast Whole-body Model Predictive Control of Legged Robots
Charles Khazoom, Seungwoo Hong, Matthew Chignoli +2
Thanks to recent advancements in accelerating non-linear model predictive control (NMPC), it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots. Howev…
cs.RO2024
CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control
Se Hwan Jeon, Seungwoo Hong, Ho Jae Lee +2
The parallelism afforded by GPUs presents significant advantages in training controllers through reinforcement learning (RL). However, integrating model-based optimization into thi…