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cuPIQP: A Differentiable Batched QP GPU Solver for Robot Learning and Control

cuPIQP is a GPU batched differentiable quadratic programming (QP) solver based on a proximal interior-point method, with unified support for dense, sparse, and multistage problems. In benchmarks with up to 16,384 QPs per batch, it solves up to 18.8 times faster than Moreau and 4.26 times faster than eight-core PIQP; in an end-to-end learning task, training is accelerated by 4.6 times over QPAX and 7.8 times over Moreau.

Part of the event: cuPIQP: A GPU Batched Differentiable QP Solver Released

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