mlsanityData to 13 Oct 2026

HPIPM: a high-performance quadratic programming framework for model predictive control

arXiv 2003.02547 ↗First posted 5 Mar 2020math.OC cs.SY eess.SYcited by 21

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Abstract (arXiv)

This paper introduces HPIPM, a high-performance framework for quadratic programming (QP), designed to provide building blocks to efficiently and reliably solve model predictive control problems. HPIPM currently supports three QP types, and provides interior point method (IPM) solvers as well (partial) condensing routines. In particular, the IPM for optimal control QPs is intended to supersede the HPMPC solver, and it largely improves robustness while keeping the focus on speed. Numerical experiments show that HPIPM reliably solves challenging QPs, and that it outperforms other state-of-the-art solvers in speed.

Key facts. Cited by 21 papers in the map (data through 13 Oct 2026). First posted on arXiv 5 Mar 2020.

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Citing papers per year: 2022: 5; 2023: 6; 2024: 1; 2025: 4; 2026: 5.

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  1. 2023Reaching the Limit in Autonomous Racing: Optimal Control versus Reinforcement Learningcited by 72
  2. 2025Synthesis of Model Predictive Control and Reinforcement Learning: Survey and Classificationcited by 19
  3. 2022Physics-Inspired Temporal Learning of Quadrotor Dynamics for Accurate Model Predictive Trajectory Trackingcited by 16
  4. 2022Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Controlcited by 13
  5. 2024Differentiation Through Black-Box Quadratic Programming Solverscited by 10
  6. 2022Motion Planning and Control for Multi Vehicle Autonomous Racing at High Speedscited by 8
  7. 2026Safe Large-Scale Robust Nonlinear MPC in Milliseconds via Reachability-Constrained System Level Synthesis on the GPUcited by 7
  8. 2025Differentiable Nonlinear Model Predictive Controlcited by 5
  9. 2022Zero-Order Optimization for Gaussian Process-based Model Predictive Controlcited by 4
  10. 2023Optimality Principles in Spacecraft Neural Guidance and Controlcited by 4
  11. 2022Safe Imitation Learning of Nonlinear Model Predictive Control for Flexible Robotscited by 3
  12. 2023Introducing a Deep Neural Network-based Model Predictive Control Framework for Rapid Controller Implementationcited by 3
9 more
  1. 2023er.autopilot 1.0: The Full Autonomous Stack for Oval Racing at High Speedscited by 2
  2. 2025Context-Aware Deep Lagrangian Networks for Model Predictive Controlcited by 2
  3. 2026TurboMPC: Fast, Scalable, and Differentiable Model Predictive Control on the GPUcited by 2
  4. 2023Modular Control Architecture for Safe Marine Navigation: Reinforcement Learning and Predictive Safety Filterscited by 1
  5. 2026ODYN: An All-Shifted Non-Interior-Point Method for Quadratic Programming in Robotics and AIcited by 1
  6. 2023Learning Residual Model of Model Predictive Control via Random Forests for Autonomous Drivingcited by 0
  7. 2025Zero-Shot Function Encoder-Based Differentiable Predictive Controlcited by 0
  8. 2026Driving Context-guided Model Predictive Planning and Control for Autonomous Car Racing at the Limit and Beyondcited by 0
  9. 2026Language-Guided Terrain-Adaptive Neural MPC for Autonomous Traversal of Articulated Tracked Robotscited by 0