TurboMPC: Fast, Scalable, and Differentiable Model Predictive Control on the GPU

arXiv:2606.24039v1 Announce Type: new Abstract: Robotics increasingly relies on GPUs for parallel simulation, large-scale learning, and neural-network inference. For model predictive control (MPC) to scale with this paradigm, solvers must run efficiently on this hardware while remaining fast, differentiable, and compatible with expressive MPC formulations used in robotics. We present TurboMPC, a differentiable MPC solver that runs entirely on the GPU and supports state and control inequality con...