Colab quickstart
Build the Python package and run MPPI plus registration demos from a notebook.
Fast Paths
Choose the entry point that matches how you want to try the project.
Published v0.3.0 assets
Download the current published source distribution or Linux x86_64 wheels.
Docker and CudaNav
Run the published controller benchmark or build the current source checkout for the end-to-end CudaNav smoke.
Core Guides
Python MPPI and Registration
`MppiPlanner`, CUDA DLPack costmaps, FilterReg, robust registration, Sinkhorn, FGR, and BCPD examples.
Nav2 CUDA MPPI Controller
Plugin setup, parameter validation, motion models, smoke tests, and the controller architecture boundary.
Benchmark Results
Fixed-seed MPPI suites, Nav2 CPU-vs-GPU comparisons, and registration external baselines.
Research Notes
MPPI reproduction zoo, planning demos, perception demos, and reproducibility notes.
v0.3.0 Release
v0.3.0 adds the integrated CudaNav stack, release-bound evidence, reproducible registration suites, and typed registration results, and an evidence-labelled real-rosbag evaluation workflow.
| Area | What is included | Where to go |
|---|---|---|
| Python | GPU MPPI plus typed and tuple-compatible point-cloud registration APIs. | Python API |
| Nav2 | CUDA MPPI controller plugin with DiffDrive, Ackermann, and Omni support. | Nav2 guide |
| Distribution | GitHub release assets, Colab quickstart, and GHCR demo image. | Install guide |
| Evidence | Quality-gated registration and recorded/shadow rosbag reports with visible failures. | Results index |