RoboGPU: Accelerating GPU Collision Detection for Robotics

arXiv:2603.01517 · cs.AR, cs.RO · Submitted 2026-03-02 · Read on arXiv

cs.AR, cs.RO

Submitted: 2026-03-02

Updated: 2026-09-16

Project page: https://ubc-aamodt-group.github.io/robogpu

Terminology

• Core — 13× in this paper · explained in 2 episodes
• Ray Tracing Accelerator — 6× in this paper
• Benchmark — 5× in this paper · explained in 2 episodes
• Arbiter — 4× in this paper · explained in 1 episode
• Point Cloud Data — 4× in this paper · explained in 2 episodes
• Clustering — 3× in this paper · explained in 2 episodes
• Decode — 3× in this paper · explained in 2 episodes
• High Performance Graphics — 3× in this paper
• Point Clouds — 3× in this paper · explained in 2 episodes
• Computer Vision and Pattern Recognition — 2× in this paper
• Foundation Model — 2× in this paper · explained in 3 episodes
• IEEE Design Automation Conference — 2× in this paper
• Trace — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Agentic AI — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Communication Overhead — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Hybrid Approach — 1× in this paper · explained in 4 episodes
• Quantization — 1× in this paper · explained in 12 episodes
• Single Instruction Multiple Thread — 1× in this paper
• Sparsity — 1× in this paper · explained in 4 episodes
• Streaming Multiprocessors — 1× in this paper
• Transformer — 1× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• Alpamayo-R1: Bridging Reasoning and Action Prediction for Generalizable Autonomous Driving in the Long Tail
• Towards Understanding, Analyzing, and Optimizing Agentic AI Execution: A CPU-Centric Perspective
• Mochi: Fast \& Exact Collision Detection
• cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation
• RT-1: Robotics Transformer for Real-World Control at Scale
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots

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