Related papers: CRDTs: Consistency without concurrency control
Behavior trees (BTs) are an optimally modular framework to assemble hierarchical hybrid control policies from a set of low-level control policies using a tree structure. Many robotic tasks are naturally decomposed into a hierarchy of…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
This paper addresses the concurrency issues affecting Behavior Trees (BTs), a popular tool to model the behaviors of autonomous agents in the video game and the robotics industry. BT designers can easily build complex behaviors composing…
Rotor-routing is a procedure for routing tokens through a network that can implement certain kinds of computation. These computations are inherently asynchronous (the order in which tokens are routed makes no difference) and distributed…
Trajectory prediction facilitates effective planning and decision-making, while constrained trajectory prediction integrates regulation into prediction. Recent advances in constrained trajectory prediction focus on structured constraints by…
Consistency regularization (CR) improves the robustness and accuracy of Connectionist Temporal Classification (CTC) by ensuring predictions remain stable across input perturbations. In this work, we propose Align-Consistency, an extension…
Tracers provide users with useful information about program executions. In this article, we propose a ``tracer driver''. From a single tracer, it provides a powerful front-end enabling multiple dynamic analysis tools to be easily…
The success of most existing cross-modal retrieval methods heavily relies on the assumption that the given queries follow the same distribution of the source domain. However, such an assumption is easily violated in real-world scenarios due…
Flat combining is a concurrency threaded technique whereby one thread performs all the operations in batch by scanning a queue of operations to-be-done and performing them together. Flat combining makes sense as long as k operations each…
Non-reversible parallel tempering (NRPT) is an effective algorithm for sampling from target distributions with complex geometry, such as those arising from posterior distributions of weakly identifiable and high-dimensional Bayesian models.…
Traces and their extension called combined traces (comtraces) are two formal models used in the analysis and verification of concurrent systems. Both models are based on concepts originating in the theory of formal languages, and they are…
There has been a lot of discussion on Net Neutrality and policies that various network service providers and distributors adopt, at times leading to greater network congestion and thus more debates. The aim of this project is to use…
Behavior Trees constitute a widespread AI tool which has been successfully spun out in robotics. Their advantages include simplicity, modularity, and reusability of code. However, Behavior Trees remain a high-level decision making engine;…
Behavior Trees (BTs) are becoming a popular tool to model the behaviors of autonomous agents in the computer game and the robotics industry. One of the key advantages of BTs lies in their composability, where complex behaviors can be built…
We introduce topological differential testing (TDT), an approach to extracting the consensus behavior of a set of programs on a corpus of inputs. TDT uses the topological notion of a simplicial complex (and implicitly draws on richer…
In Continual Learning (CL) contexts, concept drift typically refers to the analysis of changes in data distribution. A drift in the input data can have negative consequences on a learning predictor and the system's stability. The majority…
Data aggregation is a promising approach to enable massive machine-type communication (mMTC). Here, we first characterize the aggregation phase where a massive number of machine-type devices transmits to their respective aggregator. By…
The notion of concept drift refers to the phenomenon that the distribution generating the observed data changes over time. If drift is present, machine learning models can become inaccurate and need adjustment. While there do exist methods…
A key problem in constrained random verification (CRV) concerns generation of input stimuli that result in good coverage of the system's runs in targeted corners of its behavior space. Existing CRV solutions however provide no formal…
We design and study a Contextual Memory Tree (CMT), a learning memory controller that inserts new memories into an experience store of unbounded size. It is designed to efficiently query for memories from that store, supporting logarithmic…