NVIDIA cuRobo: CUDA-Accelerated Robot Motion Generation

• NVIDIA cuRobo is a library that utilizes GPUs to generate robot motion plans in milliseconds.
• It can be applied to real-time autonomous robot navigation in various industries.
• Motion generation for manipulators is complex and requires satisfying constraints and minimizing costs.
• Trajectory optimization is a powerful tool for addressing these challenges.
• cuRobo formulates the motion generation problem as a global optimization problem.
• It leverages GPUs to solve the problem with many parallel seeds, providing fast and accurate solutions.
• The process involves inverse kinematics iterations, followed by trajectory optimization iterations.
• cuRobo also includes a GPU-accelerated graph planner for extreme cases.
• It utilizes NVIDIA technologies such as Warp, nvblox, and Isaac Sim for various motion generation components.
• cuRobo is compatible with NVIDIA Jetson for embedded applications.
• It can generate motion plans within 100 ms (median) on NVIDIA AGX Orin.
• An example integration of cuRobo running on NVIDIA Jetson AGX Orin on a UR10 is provided.
• cuRobo includes CUDA-accelerated implementations of kinematics, collision checking, numerical optimization solvers, and more.
• It solves complex problems in milliseconds, outperforming existing approaches.