Optimize MPPI hot path for GPU performance and add torch.compile support#9

Merged

LemonPi merged 7 commits intomasterfrom

Mar 12, 2026

Commits on Mar 10, 2026

Add comprehensive tests, benchmarks, and CLAUDE.md for optimization refactor

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Optimize MPPI hot path: pre-allocate tensors, direct Cholesky sampling, cache KMPPI kernel matrix

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Bypass handle_batch_input in hot path, resolve branches at init, add torch.compile support

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