Parallelize MPC solver fully on GPU

silvery107 / rl-mpc-locomotion

Deep RL for MPC control of Quadruped Robot Locomotion

https://docs.google.com/presentation/d/18bznpYrkCPnhCisySPDz18hvL3Ytere7JiJEbdLvpgU/edit?usp=sharing

MIT License

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Parallelize MPC solver fully on GPU #4

Open silvery107 opened 9 months ago

silvery107 commented 9 months ago

I do have a parallelized, torch-based version implemented but with minor bugs when solving the QP in qpth. If there is a need or I have some free time, this could be a planned work.

Although I know Yuxiang has already had one parallelized QP controller well implemented lol.