CusADi2: Latency-Optimized Batch Computation of Robot Kinematics, Jacobians, and Hessians on the GPU
cs.RO
Submitted: 2026-10-18
Updated: 2026-10-18
Comments: 8 pages, 4 figures. Submitted to IEEE Robotics and Automation Letters (RA-L). Code: https://github.com/johnviljoen/cusadi2
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
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