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GLASS: Architecture-Tuned, Composable, Device-Side Linear Algebra for Edge Robotics and Beyond

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

GPU robotics lacks the reusable numerical infrastructure of mature CPU stacks, instead relying on compiler frameworks that introduce overhead or repeatedly reimplementing numerical libraries. To address this, we introduce GLASS (GPU Linear Algebra Simple Subroutines), a header-only CUDA C++ library that provides thread-, warp-, block-, and NVIDIA-backed implementations of robotics-scale linear algebra and geometric computations under one composable device API. GLASS treats implementation choice, execution scope, and launch packing as architecture-specific placement decisions determined by offl

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