Related papers: Porting Code Across Simple Mobile Robots
Cooperative transportation, a key aspect of logistics cyber-physical systems (CPS), is typically approached using dis tributed control and optimization-based methods. The distributed control methods consume less time, but poorly handle and…
Traditional control interfaces for quadruped robots often impose a high barrier to entry, requiring specialized technical knowledge for effective operation. To address this, this paper presents a novel control framework that integrates…
While there has been a lot of research recently on robots in household environments, at the present time, most robots in existence can be found on shop floors, and most interactions between humans and robots happen there. ``Collaborative…
Code translation aims to convert a program from one programming language (PL) to another. This long-standing software engineering task is crucial for modernizing legacy systems, ensuring cross-platform compatibility, enhancing performance,…
While a lot of recent research focuses on enhancing the textual reasoning capabilities of Large Language Models (LLMs) by optimizing the multi-agent framework or reasoning chains, several benchmark tasks can be solved with 100\% success…
Recent releases such as o3 highlight human-like "thinking with images" reasoning that combines tool use with stepwise verification, yet most open-source approaches still rely on text-only chains, rigid visual schemas, or single-step…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Reasoning and planning for mobile robots is a challenging problem, as the world evolves over time and thus the robot's goals may change. One technique to tackle this problem is goal reasoning, where the agent not only reasons about its…
We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…
With application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This…
Control code is a concept that is closely related to a frequently occurring practitioner's view on what is a program: code that is capable of controlling the behaviour of some machine. We present a logical approach to explain issues…
Signal Temporal Logic (STL) offers a concise yet expressive framework for specifying and reasoning about spatio-temporal behaviors of robotic systems. Attractively, STL admits the notion of robustness, the degree to which an input signal…
The integration of language instructions with robotic control, particularly through Vision Language Action (VLA) models, has shown significant potential. However, these systems are often hindered by high computational costs, the need for…
High-performance computing (HPC) applications are increasingly executed in heterogeneous environments, introducing new challenges for programming and software portability. SYCL has emerged as a leading model designed to simplify…
In programming, protocols are everywhere. Protocols describe the pattern of interaction (or communication) between software systems, for example, between a user-space program and the kernel or between a local application and an online…
Predicting the performance of large-scale distributed machine learning (ML) workloads across multiple accelerator architectures remains a central challenge in ML system design. Existing GPU and TPU focused simulators are typically…
Autonomous robots must navigate and operate in diverse environments, from terrestrial and aquatic settings to aerial and space domains. While Reinforcement Learning (RL) has shown promise in training policies for specific autonomous robots,…
This paper describes an implemented system which is designed to support the deployment of applications offering distributed services, comprising a number of distributed components. This is achieved by creating high level placement and…
Fault-tolerant distributed algorithms are central for building reliable spatially distributed systems. Unfortunately, the lack of a canonical precise framework for fault-tolerant algorithms is an obstacle for both verification and…
Hardware heterogeneity is here to stay for high-performance computing. Large-scale systems are currently equipped with multiple GPU accelerators per compute node and are expected to incorporate more specialized hardware in the future. This…