CUDA MPPI vs Nav2 CPU MPPI
Closed-loop pluginlib comparison on the same costmap, plan, and limits.
Distribution Results
Start here for the published v0.3.0 release evidence.
Extended controller scenarios
Double-gap and moving-crossing smoke coverage for path-window and dynamic-costmap regressions.
Path-angle critic
GPU MPPI heading-to-path tangent cost for high-curvature tracking.
Curvature speed critic
Optional path-curvature speed target for smoother bend entry.
ESDF clearance critic
GPU-only comparison of default costmap scoring and optional distance-field clearance.
External baselines
FilterReg comparison against probreg and Open3D CPU baselines.
Unified GPU smoke
Five GPU registrars under one schema with explicit quality gates and environment metadata.
Recorded rosbag evaluation
Recorded/shadow evidence with command pairing, clearance, and a retained failed quality gate.
v0.3.0 release checklist
Required CPU, GPU, ROS, packaging, and evidence gates before the tag is published.
MPPI Zoo
The fixed-seed suite compares the baseline MPPI planner against a growing set of paper-inspired variants. It is not a universal claim; it is a reproducible local stress suite with both successes and failures checked in.
| Report | Scope |
|---|---|
| 2026-06-10 suite | Five scenarios, ten planners, multiple sample counts. |
| Smoke suite | Small quick-run suite for fast regression checks. |
| Reproduction zoo | Research backlog with implementation notes and limitations. |
