Related papers: StarL: Towards a Unified Framework for Programming…
The StarL programming framework aims to simplify development of distributed robotic applications by providing easy-to-use language constructs for communication and control. It has been used to develop applications such as formation control,…
We propose a variant of the Rapidly Exploring Random Tree Star (RRT$^{\star}$) algorithm to synthesize trajectories satisfying a given spatio-temporal specification expressed in a fragment of Signal Temporal Logic (STL) for linear systems.…
Building generalist embodied agents requires integrating perception, language understanding, and action, which are core capabilities addressed by Vision-Language-Action (VLA) approaches based on multimodal foundation models, including…
New ideas in distributed systems (algorithms or protocols) are commonly tested by simulation, because experimenting with a prototype deployed on a realistic platform is cumbersome. However, a prototype not only measures performance but also…
In reinforcement learning (RL) research, simulations enable benchmarks between algorithms, as well as prototyping and hyper-parameter tuning of agents. In order to promote RL both in research and real-world applications, frameworks are…
We introduce a general-purpose framework for interconnecting scientific simulation programs using a homogeneous, unified software interface. Our framework is intrinsically parallel, and conveniently separates all components in memory. It…
Speculative decoding accelerates autoregressive generation by separating token proposal from verification, but most existing approaches are designed for single-node execution and do not scale well to multi-accelerator clusters used for…
Large Language Model (LLM)-based applications are increasingly deployed across various domains, including customer service, education, and mobility. However, these systems are prone to inaccurate, fictitious, or harmful responses, and their…
One of the factors that limits the scale, performance, and sophistication of distributed applications is the difficulty of concurrently executing them on multiple distributed computing resources. In part, this is due to a poor understanding…
The paper presents a prototype of the accelerator commissioning and simulation application toolkit based on the Unified Accelerator Libraries (UAL) framework. The existing UAL 1.x environment has been implemented as an open collection of…
Today's distributed systems operate in complex environments that inevitably involve faults and even adversarial behaviors. Predicting their performance under such environments directly from formal designs remains a longstanding challenge.…
In this report, we present work towards a framework for modeling and checking behavior of spatially distributed component systems. Design goals of our framework are the ability to model spatial behavior in a component oriented, simple and…
Machine learning applications are increasingly deployed not only to serve predictions using static models, but also as tightly-integrated components of feedback loops involving dynamic, real-time decision making. These applications pose a…
When training large machine learning models with many variables or parameters, a single machine is often inadequate since the model may be too large to fit in memory, while training can take a long time even with stochastic updates. A…
Runtime verification is the process of verifying critical behavioral properties in big complex systems, where formal verification is not possible due to state space explosion. There have been several attempts to design efficient algorithms…
In this paper, we investigate the probabilistic formal verification of stochastic dynamical systems over continuous state spaces. Motivated by problems in state estimation and information-flow security, we introduce the notion of…
Swarm protocols are a recently introduced formalism for specifying, implementing, and verifying peer-to-peer systems called swarms. A swarm consists of distributed agents called machines that communicate by asynchronous event propagation.…
Prototyping and implementing distributed algorithms, particularly those that address challenges related with fault-tolerance and dependability, is a time consuming task. This is, in part, due to the need of addressing low level aspects such…
In recent years, the field of aerial robotics has witnessed significant progress, finding applications in diverse domains, including post-disaster search and rescue operations. Despite these strides, the prohibitive acquisition costs…
Robotics foundation models have demonstrated strong capabilities in executing natural language instructions across diverse tasks and environments. However, they remain largely data-driven and lack formal guarantees on safety and…