{"id":"https://openalex.org/W4401414990","doi":"https://doi.org/10.1109/icra57147.2024.10611249","title":"ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control","display_name":"ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414990","doi":"https://doi.org/10.1109/icra57147.2024.10611249"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063602394","display_name":"Arun L. Bishop","orcid":"https://orcid.org/0009-0004-3816-7268"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Arun L. Bishop","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute, School of Computer Science,Pittsburgh,PA,USA,15213"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute, School of Computer Science,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065255007","display_name":"John Z. Zhang","orcid":"https://orcid.org/0000-0002-7442-5920"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Z. Zhang","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute, School of Computer Science,Pittsburgh,PA,USA,15213"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute, School of Computer Science,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066011301","display_name":"Swaminathan Gurumurthy","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Swaminathan Gurumurthy","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute, School of Computer Science,Pittsburgh,PA,USA,15213"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute, School of Computer Science,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006710726","display_name":"Kevin Tracy","orcid":"https://orcid.org/0000-0003-0218-8732"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Tracy","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute, School of Computer Science,Pittsburgh,PA,USA,15213"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute, School of Computer Science,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003687365","display_name":"Zachary Manchester","orcid":"https://orcid.org/0000-0002-3071-7091"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary Manchester","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute, School of Computer Science,Pittsburgh,PA,USA,15213"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute, School of Computer Science,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5063602394"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":5.7954,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.96689632,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"13285","last_page":"13292"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.7577075362205505},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7277497053146362},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6994342803955078},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.6921197175979614},{"id":"https://openalex.org/keywords/cuda","display_name":"CUDA","score":0.6406160593032837},{"id":"https://openalex.org/keywords/general-purpose-computing-on-graphics-processing-units","display_name":"General-purpose computing on graphics processing units","score":0.5292719602584839},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.49213141202926636},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.4838675260543823},{"id":"https://openalex.org/keywords/computational-science","display_name":"Computational science","score":0.3843514621257782},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.334195077419281},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3257865309715271},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2886965870857239},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25956329703330994},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.21592792868614197},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2066214382648468},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.13863274455070496},{"id":"https://openalex.org/keywords/graphics","display_name":"Graphics","score":0.1327354907989502}],"concepts":[{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.7577075362205505},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7277497053146362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6994342803955078},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.6921197175979614},{"id":"https://openalex.org/C2778119891","wikidata":"https://www.wikidata.org/wiki/Q477690","display_name":"CUDA","level":2,"score":0.6406160593032837},{"id":"https://openalex.org/C50630238","wikidata":"https://www.wikidata.org/wiki/Q971505","display_name":"General-purpose computing on graphics processing units","level":3,"score":0.5292719602584839},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.49213141202926636},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4838675260543823},{"id":"https://openalex.org/C459310","wikidata":"https://www.wikidata.org/wiki/Q117801","display_name":"Computational science","level":1,"score":0.3843514621257782},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.334195077419281},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3257865309715271},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2886965870857239},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25956329703330994},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.21592792868614197},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2066214382648468},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.13863274455070496},{"id":"https://openalex.org/C21442007","wikidata":"https://www.wikidata.org/wiki/Q1027879","display_name":"Graphics","level":2,"score":0.1327354907989502},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1562101002","https://openalex.org/W1945123189","https://openalex.org/W2006498909","https://openalex.org/W2013439434","https://openalex.org/W2038818107","https://openalex.org/W2099438994","https://openalex.org/W2112930335","https://openalex.org/W2123871098","https://openalex.org/W2130999229","https://openalex.org/W2155527096","https://openalex.org/W2159307101","https://openalex.org/W2159583056","https://openalex.org/W2173413132","https://openalex.org/W2204069388","https://openalex.org/W2589046519","https://openalex.org/W2738778707","https://openalex.org/W2769646558","https://openalex.org/W2771691050","https://openalex.org/W2801128564","https://openalex.org/W2909331752","https://openalex.org/W2909553221","https://openalex.org/W2963000588","https://openalex.org/W2963826410","https://openalex.org/W2967571189","https://openalex.org/W2992727511","https://openalex.org/W3004162504","https://openalex.org/W3093154383","https://openalex.org/W3101798601","https://openalex.org/W3104730803","https://openalex.org/W3131518230","https://openalex.org/W4240817057","https://openalex.org/W4246038204","https://openalex.org/W4281622689","https://openalex.org/W4292363360","https://openalex.org/W4295312788","https://openalex.org/W4301014524","https://openalex.org/W6674958657","https://openalex.org/W6766978945"],"related_works":["https://openalex.org/W1963859303","https://openalex.org/W2364044215","https://openalex.org/W2389600408","https://openalex.org/W240129890","https://openalex.org/W3048701459","https://openalex.org/W2149078538","https://openalex.org/W2080146221","https://openalex.org/W2370314112","https://openalex.org/W1912958759","https://openalex.org/W2792081825"],"abstract_inverted_index":{"We":[0,63],"present":[1],"ReLU-QP,":[2],"a":[3,39,89,94,99,103],"GPU-accelerated":[4],"solver":[5],"for":[6,35,117,125],"quadratic":[7],"programs":[8],"(QPs)":[9],"that":[10,109],"is":[11,22,111],"capable":[12],"of":[13,31,55,67],"solving":[14,36],"high-dimensional":[15],"control":[16,72,81],"problems":[17,119],"at":[18],"real-time":[19],"rates.":[20],"ReLU-QP":[21,56,68,110],"derived":[23],"by":[24],"exactly":[25],"reformulating":[26],"the":[27,53,65],"Alternating":[28],"Direction":[29],"Method":[30],"Multipliers":[32],"(ADMM)":[33],"algorithm":[34],"QPs":[37],"as":[38],"deep,":[40],"weight-tied":[41],"neural":[42],"network":[43],"with":[44,80,102,113],"rectified":[45],"linear":[46,77],"unit":[47],"(ReLU)":[48],"activations.":[49],"This":[50],"reformulation":[51],"enables":[52],"deployment":[54],"on":[57,88,98],"GPUs":[58],"using":[59],"standard":[60],"machine-learning":[61],"toolboxes.":[62],"evaluate":[64],"performance":[66],"across":[69],"three":[70],"model-predictive":[71],"(MPC)":[73],"benchmarks:":[74],"stabilizing":[75],"random":[76],"dynamical":[78],"systems":[79],"limits,":[82],"balancing":[83],"an":[84],"Atlas":[85],"humanoid":[86],"robot":[87],"single":[90],"foot,":[91],"and":[92,120],"performing":[93],"whole-body":[95],"pick-up":[96],"motion":[97],"quadruped":[100],"equipped":[101],"six-degree-of-freedom":[104],"arm.":[105],"These":[106],"benchmarks":[107],"indicate":[108],"competitive":[112],"state-of-the-art":[114],"CPU-based":[115],"solvers":[116],"small-to-medium-scale":[118],"offers":[121],"order-of-magnitude":[122],"speed":[123],"improvements":[124],"larger-scale":[126],"problems.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":15}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}
