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@kohonda
kohonda authored Sep 23, 2024
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This repository contains an implementation of [Model Predictive Path Integral Control (MPPI)](https://arxiv.org/abs/1707.02342) with PyTorch to accelerate computations on the GPU.

## Tested Native Environment
- Ubuntu Focal 20.04 (LTS)
- Ubuntu Focal 20.04 and 22.04
- NVIDIA Driver 510 or later due to PyTorch 2.x (optional for GPU acceleration)

## Dependencies
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</p>

## Reference
- [pytorch_mppi](https://github.com/UM-ARM-Lab/pytorch_mppi)
- [pytorch_mppi](https://github.com/UM-ARM-Lab/pytorch_mppi)

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