Pure CUDA implementation for maximum performance Python bindings via nanobind JIT compilation support for custom dynamics Multiple controller variants Optimized CUDA kernels for parallel sampling This ...
Abstract: Quadrotor navigation in unknown environments is critical for practical missions such as search-and-rescue. Solving it requires addressing three key challenges: path-planning in non-convex ...
Abstract: Trajectory-sampling-based techniques, such as model predictive path integral control (MPPI), are well suited to solve complex optimization problems with numerous weighted cost terms and ...
This is an implementation of a Model Predictive Path Integral (MPPI) controller which uses IsaacGym as a dynamic model for the rollouts. We provide several examples of what tasks you can solve with it ...
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