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math.OC2026
CuPIQP: A Batched and Differentiable QP Solver on GPUs for Robot Learning and Control
Fenglong Song, Roland Schwan, Yuwen Chen +2
Quadratic programs (QPs) are fundamental building blocks of many robotic tasks such as inverse kinematics, whole-body control, and model predictive control. Extending these methods…
math.OC2025
Parallel KKT Solver in PIQP for Multistage Optimization
Fenglong Song, Roland Schwan, Yuwen Chen +1
This paper presents an efficient parallel Cholesky factorization and triangular solve algorithm for the Karush-Kuhn-Tucker (KKT) systems arising in multistage optimization problems…