{"id":17632717,"url":"https://github.com/acdslab/mppi-generic","last_synced_at":"2025-04-05T10:07:19.730Z","repository":{"id":250057871,"uuid":"833210393","full_name":"ACDSLab/MPPI-Generic","owner":"ACDSLab","description":"Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)","archived":false,"fork":false,"pushed_at":"2025-03-10T15:19:34.000Z","size":10238,"stargazers_count":125,"open_issues_count":3,"forks_count":14,"subscribers_count":9,"default_branch":"main","last_synced_at":"2025-04-05T10:07:12.063Z","etag":null,"topics":["cpp","cuda","model-predictive-control","model-predictive-path-integral","robotics","stochastic-optimization"],"latest_commit_sha":null,"homepage":"https://acdslab.github.io/mppi-generic-website/","language":"Cuda","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-2-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ACDSLab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-07-24T15:13:00.000Z","updated_at":"2025-04-01T16:14:39.000Z","dependencies_parsed_at":"2024-07-25T00:03:42.178Z","dependency_job_id":"eff47830-9b90-4123-b606-47abf754ad4a","html_url":"https://github.com/ACDSLab/MPPI-Generic","commit_stats":null,"previous_names":["acdslab/mppi-generic"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ACDSLab%2FMPPI-Generic","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ACDSLab%2FMPPI-Generic/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ACDSLab%2FMPPI-Generic/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ACDSLab%2FMPPI-Generic/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ACDSLab","download_url":"https://codeload.github.com/ACDSLab/MPPI-Generic/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247318744,"owners_count":20919484,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["cpp","cuda","model-predictive-control","model-predictive-path-integral","robotics","stochastic-optimization"],"created_at":"2024-10-23T01:45:15.982Z","updated_at":"2025-04-05T10:07:19.712Z","avatar_url":"https://github.com/ACDSLab.png","language":"Cuda","funding_links":[],"categories":[],"sub_categories":[],"readme":"# MPPI-Generic\nMPPI-Generic is a C++/CUDA header-only library implementation of Model Predictive Path Integral Control (MPPI) by [Williams et al.](https://ieeexplore.ieee.org/document/8558663)\n\n## Citation\nIf you use this library for research purposes, please cite the following paper:\n```\n@misc{vlahov2024mppigenericcudalibrarystochastic,\n      title={MPPI-Generic: A CUDA Library for Stochastic Optimization},\n      author={Bogdan Vlahov and Jason Gibson and Manan Gandhi and Evangelos A. Theodorou},\n      year={2024},\n      eprint={2409.07563},\n      archivePrefix={arXiv},\n      primaryClass={cs.MS},\n      url={https://arxiv.org/abs/2409.07563},\n}\n```\n\n## Requirements\nMPPI-Generic relies on the following:\n* An NVIDIA GPU\n* GCC/G++\n* CUDA 10 or newer (CUDA 11.7+ is recommended but our library is compatible back to CUDA 10)\n* [Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page)\n* [CMake](https://cmake.org/) 3.10 or newer\n* git and git-lfs\n### Unit tests requirements\n* [yaml-cpp](https://github.com/jbeder/yaml-cpp)\n* python-pil\n\n## Prerequisite Setup (Ubuntu)\n1. Follow the instructions to install CUDA provided [here](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html).\n\n2. Install all the other prerequisites through `apt-get`:\n```bash\nsudo apt-get install libeigen3-dev git git-lfs cmake gcc\n# Setup git lfs if it is the first you have installed it\ngit lfs install\n# extra installs if you are wanting to build unit tests\nsudo apt-get install libyaml-cpp-dev python3-pil\n```\n\nNote: If using Pop!\\_OS you can `sudo apt install system76-cuda` instead of installing CUDA manually.\n\n## Download the repo\n```bash\ncd /path/to/repos\ngit clone https://github.gatech.edu/ACDS/MPPI-Generic.git\ncd MPPI-Generic\ngit submodule update --init --recursive\n```\n## Building MPPI-Generic with tests\n\nThe default is to build the library with tests OFF.\nIf you would like to turn on the tests when building, pass the flag `-DBUILD_TESTS=ON` when configuring cmake.\n\n```bash\nmkdir build\ncd build\ncmake -DBUILD_TESTS=ON ..\nmake\nmake test\n```\n\n## Acknowledgements\nApproved for Public Release, Distribution Unlimited.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Facdslab%2Fmppi-generic","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Facdslab%2Fmppi-generic","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Facdslab%2Fmppi-generic/lists"}