Related papers: Combined Top-down and Bottom-up Approach to Multil…
We present a governance-aware hybrid fine-tuning framework for multilingual, low-resource adaptation of large language models. The core algorithm combines gradient-aligned low-rank updates with structured orthogonal transformations through…
We propose a parser for constraint-logic grammars implementing HPSG that combines the advantages of dynamic bottom-up and advanced top-down control. The parser allows the user to apply magic compilation to specific constraints in a grammar…
This paper investigates simple bilevel optimization problems where we minimize an upper-level objective over the optimal solution set of a convex lower-level objective. Existing methods for such problems either only guarantee asymptotic…
In multi-robot systems, achieving coordinated missions remains a significant challenge due to the coupled nature of coordination behaviors and the lack of global information for individual robots. To mitigate these challenges, this paper…
Providing technologies to communities or domains where training data is scarce or protected e.g., for privacy reasons, is becoming increasingly important. To that end, we generalise methods for unsupervised transfer from multiple input…
Recently we proposed relative observability for supervisory control of discrete-event systems under partial observation. Relative observability is closed under set unions and hence there exists the supremal relatively observable sublanguage…
Since the traffic administration at road intersections determines the capacity bottleneck of modern transportation systems, intelligent cooperative coordination for connected autonomous vehicles (CAVs) has shown to be an effective solution.…
The aim of coordinated planning is to avoid robot-to-robot collisions in a multi-robot system, and there are two standard solution approaches: centralized planning and decoupled planning. Our first contribution is a decoupled planning…
Vision-language pre-training like CLIP has shown promising performance on various downstream tasks such as zero-shot image classification and image-text retrieval. Most of the existing CLIP-alike works usually adopt relatively large image…
In this paper, we investigate team optimal control of coupled major-minor subsystems with mean-field sharing. In such a model, there is one major subsystem that directly influences the dynamics of $n$ homogeneous minor subsystems; however,…
A supervisory controller controls and coordinates the behavior of different components of a complex machine by observing their discrete behaviour. Supervisory control theory studies automated synthesis of controller models, known as…
In this paper, a leader-following coordination problem of heterogeneous multi-agent systems is considered under switching topologies where each agent is subject to some local (unbounded) disturbances. While these unknown disturbances may…
A two-layer control architecture is proposed to enable scalable implementations for constraint-based decision strategies, such as model predictive controllers. The bottom layer is based upon a distributed feedback-feedforward scheme that…
The problem of robustly, asymptotically stabilizing a point (or a set) with two output-feedback hybrid controllers is considered. These control laws may have different objectives, e.g., the closed-loop systems resulting with each controller…
The supervisory control of probabilistic discrete event systems (PDESs) is investigated under the assumptions that the supervisory controller (supervisor) is probabilistic and has a partial observation. The probabilistic P-supervisor is…
Recent advances in large language and vision-language models have enabled zero-shot inference, allowing models to solve new tasks without task-specific training. Various adaptation techniques such as prompt engineering, In-Context Learning…
Existing multi-model and tool-augmented systems communicate by generating text, serializing every exchange through the output vocabulary. Can two pretrained language models instead coordinate through a continuous, concurrent channel? The…
In this paper we present a hierarchical multi-rate control architecture for nonlinear autonomous systems operating in partially observable environments. Control objectives are expressed using syntactically co-safe Linear Temporal Logic…
This paper presents a hierarchical control scheme for interconnected linear systems. At the higher layer of the control structure a robust centralized Model Predictive Control (MPC) algorithm based on a reduced order dynamic model of the…
We present a semi-supervised fine-tuning framework for foundation models that utilises mutual information decomposition to address the challenges of training for a limited amount of labelled data. Our approach derives two distinct lower…