{"id":"https://openalex.org/W4403663073","doi":"https://doi.org/10.48550/arxiv.2409.07563","title":"MPPI-Generic: A CUDA Library for Stochastic Trajectory Optimization","display_name":"MPPI-Generic: A CUDA Library for Stochastic Trajectory Optimization","publication_year":2024,"publication_date":"2024-09-11","ids":{"openalex":"https://openalex.org/W4403663073","doi":"https://doi.org/10.48550/arxiv.2409.07563"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2409.07563","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.07563","pdf_url":"https://arxiv.org/pdf/2409.07563","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2409.07563","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072885377","display_name":"Bogdan Vlahov","orcid":"https://orcid.org/0000-0003-0224-6664"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vlahov, Bogdan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033755663","display_name":"Jason Gibson","orcid":"https://orcid.org/0000-0002-1439-2987"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gibson, Jason","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017948015","display_name":"Manan Gandhi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gandhi, Manan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5044505993","display_name":"Evangelos A. Theodorou","orcid":"https://orcid.org/0000-0002-0834-5738"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Theodorou, Evangelos A.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10054","display_name":"Parallel Computing and Optimization Techniques","score":0.21649999916553497,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10054","display_name":"Parallel Computing and Optimization Techniques","score":0.21649999916553497,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cuda","display_name":"CUDA","score":0.8152461051940918},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5811503529548645},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.48642969131469727},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3336794078350067},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.261152058839798}],"concepts":[{"id":"https://openalex.org/C2778119891","wikidata":"https://www.wikidata.org/wiki/Q477690","display_name":"CUDA","level":2,"score":0.8152461051940918},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5811503529548645},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.48642969131469727},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3336794078350067},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.261152058839798}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2409.07563","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.07563","pdf_url":"https://arxiv.org/pdf/2409.07563","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2409.07563","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2409.07563","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2409.07563","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.07563","pdf_url":"https://arxiv.org/pdf/2409.07563","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G138837881","display_name":null,"funder_award_id":"DE-NA-0003525","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G2676722403","display_name":null,"funder_award_id":"80NM0018D0004","funder_id":"https://openalex.org/F4320332375","funder_display_name":"Jet Propulsion Laboratory"},{"id":"https://openalex.org/G288067973","display_name":null,"funder_award_id":"0003525","funder_id":"https://openalex.org/F4320306084","funder_display_name":"U.S. Department of Energy"},{"id":"https://openalex.org/G3648211085","display_name":null,"funder_award_id":"80NM0018D0004","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G6588439730","display_name":null,"funder_award_id":"DE-NA-0003525","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G7166948679","display_name":null,"funder_award_id":"DE-NA-0003525","funder_id":"https://openalex.org/F4320332369","funder_display_name":"National Nuclear Security Administration"},{"id":"https://openalex.org/G7336105542","display_name":null,"funder_award_id":"80NM0018D0004","funder_id":"https://openalex.org/F4320309398","funder_display_name":"California Institute of Technology"},{"id":"https://openalex.org/G7410743818","display_name":null,"funder_award_id":"DE-NA-0003525","funder_id":"https://openalex.org/F4320306084","funder_display_name":"U.S. Department of Energy"},{"id":"https://openalex.org/G805931733","display_name":null,"funder_award_id":"DE-NA-0003525","funder_id":"https://openalex.org/F4320338291","funder_display_name":"Sandia National Laboratories"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8927481018","display_name":null,"funder_award_id":"N00014-21-1-2074","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320306078","display_name":"U.S. Department of Defense","ror":"https://ror.org/0447fe631"},{"id":"https://openalex.org/F4320306084","display_name":"U.S. Department of Energy","ror":"https://ror.org/01bj3aw27"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320309398","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320332369","display_name":"National Nuclear Security Administration","ror":"https://ror.org/03sk1we31"},{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"},{"id":"https://openalex.org/F4320332378","display_name":"Langley Research Center","ror":"https://ror.org/0399mhs52"},{"id":"https://openalex.org/F4320332815","display_name":"Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338291","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403663073.pdf","grobid_xml":"https://content.openalex.org/works/W4403663073.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4399354997","https://openalex.org/W3062287","https://openalex.org/W2380390332","https://openalex.org/W2005148983","https://openalex.org/W2012954338","https://openalex.org/W2096672917","https://openalex.org/W2392023973"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,93],"new":[4],"C++/CUDA":[5],"library":[6,103],"for":[7,36],"GPU-accelerated":[8],"stochastic":[9],"optimization":[10],"called":[11],"MPPI-Generic.":[12],"It":[13],"provides":[14],"implementations":[15,85],"of":[16,86,95],"Model":[17,29,71,87],"Predictive":[18,23,30,72,88],"Path":[19,24,31,73,89],"Integral":[20,25,32,74,90],"control,":[21],"Tube-Model":[22],"Control,":[26,33],"and":[27,34,47],"Robust":[28],"allows":[35],"these":[37],"algorithms":[38],"to":[39,67,82,97],"be":[40,110],"used":[41],"across":[42],"many":[43],"pre-existing":[44],"dynamics":[45,56],"models":[46,57],"cost":[48,59],"functions.":[49],"Furthermore,":[50],"researchers":[51],"can":[52,104,109],"create":[53],"their":[54],"own":[55],"or":[58],"functions":[60],"following":[61],"our":[62,102],"API":[63],"definitions":[64],"without":[65],"needing":[66],"change":[68],"the":[69,99],"actual":[70],"Control":[75,91],"code.":[76],"Finally,":[77],"we":[78],"compare":[79],"computational":[80],"performance":[81],"other":[83],"popular":[84],"over":[92],"variety":[94],"GPUs":[96],"show":[98],"real-time":[100],"capabilities":[101],"allow":[105],"for.":[106],"Library":[107],"code":[108],"found":[111],"at:":[112],"https://acdslab.github.io/mppi-generic-website/":[113],".":[114]},"counts_by_year":[],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2024-10-23T00:00:00"}