3 papers
cs.RO2026
GATO: GPU-Accelerated and Batched Trajectory Optimization for Scalable Edge Model Predictive Control
Alexander Du, Emre Adabag, Gabriel Bravo-Palacios +1
While Model Predictive Control (MPC) delivers strong performance across robotics applications, solving the underlying (batches of) nonlinear trajectory optimization (TO) problems o…
math.OC2025
Differentiable Model Predictive Control on the GPU
Emre Adabag, Marcus Greiff, John Subosits +1
Differentiable model predictive control (MPC) offers a powerful framework for combining learning and control. However, its adoption has been limited by the inherently sequential na…
cs.RO2024
MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU
Emre Adabag, Miloni Atal, William Gerard +1
Nonlinear Model Predictive Control (NMPC) is a state-of-the-art approach for locomotion and manipulation which leverages trajectory optimization at each control step. While the per…