Author

Liang Wu

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Preprint Sep 2026

Accelerating Branch MPC with Two-Level Parallel Direct Solves on GPUs

Branch model predictive control optimizes multiple future trajectories coupled through shared decisions, with computational demands increasing as the number of scenarios and prediction horizon grow. We present a GPU-accelerated direct linear solver for branch MPC formulations in which all trajectories share a single ro...

Feng-Long Song, Lu-Yao Zhang, Liang Wu et al. · 0 citations

#machine learning Preprint Sep 2026

lapanda: A Matrix-Free Differentiable Solver for Nonconvex Constrained Optimization Layers

Differentiable optimization brings the structural guarantees of mathematical optimization to network pipelines, allowing them to be trained end-to-end. However, its application remains challenging for nonconvex constrained problems, as existing differentiable solvers often suffer from limited modeling expressiveness du...

Yuan-Kun Chen, Zi-Fei Nie, Kang-Yu Lin et al. · 0 citations