Hyper3D | Rodin reposted this
Excited to share that cuNRTO, our GPU-accelerated framework for nonlinear robust trajectory optimization, will be presented at RSS 2026. 🤖 Robust trajectory optimization is critical for enabling robots to operate safely under uncertainty, but solving the resulting second-order cone programs can be computationally expensive, especially for high-dimensional systems and dense safety constraints. With cuNRTO, we accelerate nonlinear robust trajectory optimization by exposing parallelism in SOC projections and restructuring the inner optimization loop for GPU execution. We evaluate the framework on unicycle, quadcopter, and Franka manipulator tasks, achieving up to 139.6× wall-clock speedup while maintaining robust constraint satisfaction. This project was a true team effort and would not have been possible without the guidance and many insightful discussions with Arshiya Taj Abdul and Prof. Evangelos Theodorou. I'm very grateful for the opportunity to work together across Georgia Institute of Technology, UC San Diego, and Hyper3D | Rodin in this direction. It's great to be back at RSS Conference for a third year, and I'm looking forward to sharing cuNRTO and connecting in Sydney! 💻 Website: https://cunrto.github.io 📄 Paper: https://lnkd.in/gFb4UXYS #Robotics #CUDA #GPUComputing #MotionPlanning #RobotLearning #RSS2026