cuNRTO Mission Control

Scenario

Start

Position(0.00, 0.00)

Goal

Center(5.50, 2.00)
Size (W,H)(1.50, 1.50)

Obstacles

Constraints

DynamicsUnicycle
HorizonT 60
Uncertaintyσ 0.05
Goal size1.00×

Solver Profiles

NRTO-FullADMM (ours) NRTO-DR NRTO

Properties

Goal

Center (x, y) Size (w, h)

Horizon T60 steps · fixedUncertainty τ0.05 · fixed

Goal size scale

NTO warm start

Drag start, goal, and obstacles directly in the arena. Drag a selected edge or corner to resize.

Arena

Scenario editable

TIME-TO-SOLUTION RACE lower is better

RESIDUAL (CO-NORM) per-lane scale · not comparable across solvers

GPU UTILIZATION device unknown

—% util

memory—power—

Select Logs during an active experiment to follow solver output.

Problem JSON · per-lane solver config