MPCGPU lives in this repository; GBD-PCG (its linear-system solver), GRiD and GLASS are pinned submodules. It is maintained as the ICRA 2024 artifact and a header-only library (see Project status); fixes and pin updates are in scope, new solver capabilities are not.
- Quickstart: correctness demos, prerequisites and configuration.
- API contracts: supported inputs, ownership, precision and limitations.
- Development: reproducible generation, validation, receipts and timing.
- ICRA replication: the paper's pick-and-place task, its recovered protocol and current results.
- Speedup attribution: why the current results differ from the paper's.
- Website: the project page in this folder and how it deploys.
The paper is a separate published protocol. Older measurements used different dynamics, EE frames, costs and metrics, so they are not comparable with current results; the paper remains the record of the published code's results.