Related papers: Dynamic Choreographies: Theory And Implementation
Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated objects rigidly coupled to the robot, ignoring underactuated…
Motion planning for autonomous driving (AD) faces a critical trade-off. While traditional rule-based pipelines offer verifiable safety and interpretability, they often fail to generalize in complex scenarios. Conversely, emerging…
We present Diffuse-CLoC, a guided diffusion framework for physics-based look-ahead control that enables intuitive, steerable, and physically realistic motion generation. While existing kinematics motion generation with diffusion models…
Context Oriented Programming (COP) concerns the ability of programs to adapt to changes in their running environment. A number of programming languages endowed with COP constructs and features have been developed. However, some foundational…
Classical approaches like process algebras or labelled transition systems deal with static composition to model non-trivial concurrent or distributed systems; this is not sufficient for systems with dynamic architecture and with variable…
Choreographic programming (CP) is an emerging paradigm for programming distributed applications that run on multiple nodes. In CP, the programmer writes one program, called a choreography, that is then transformed to individual programs for…
For combinatorial optimization problems, model-based paradigms such as mixed-integer programming (MIP) and constraint programming (CP) aim to decouple modeling and solving a problem: the `holy grail' of declarative problem solving. We…
We present CryptoChoreo, a choreography language for the specification of cryptographic protocols. Choreographies can be regarded as an extension of Alice-and-Bob notation, providing an intuitive high-level view of the protocol as a whole…
This paper makes an attempt to analyze the Activeness of a Distributed Object Oriented Component Library and develops a software metric called Distributed Component Activeness Quotient which is defined as the degree of readiness of a DOOCL.…
We report on Differential Evolution for Analytic Continuation (DEAC): a parameter-free evolutionary algorithm to generate the dynamic structure factor from imaginary time correlation functions. Our approach to this long-standing problem in…
Generating long and stylized human motions in real time is critical for applications that demand continuous and responsive character control. Despite its importance, existing streaming approaches often operate directly in the raw motion…
We consider two classes of stream-based computations which admit taking linear combinations of execution runs: probabilistic sampling and generalized animation. The dataflow architecture is a natural platform for programming with streams.…
Network objects are a simple and natural abstraction for distributed object-oriented programming. Languages that support network objects, however, often leave synchronization to the user, along with its associated pitfalls, such as data…
A recent trend in object oriented (OO) programming languages is the use of Access Permissions (APs) as an abstraction for controlling concurrent executions of programs. The use of AP source code annotations defines a protocol specifying how…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
Distributed interactions can be suitably designed in terms of choreographies. Such abstractions can be thought of as global descriptions of the coordination of several distributed parties. Global assertions define contracts for…
Orc is a theory of orchestration of services that allows structured programming of distributed and timed computations. Several formal semantics have been proposed for Orc, including a rewriting logic semantics developed by the authors. Orc…
Simulation of non-adiabatic dynamics of a quantum system coupled to dissipative environments poses significant challenges. New sophisticated methods are regularly being developed with an eye towards moving to larger systems and more…
Agentic workflows in large language model systems integrate retrieval, reasoning, and memory, but existing frameworks suffer from scalability and reproducibility limitations due to fragmented data orchestration, serialization overhead, and…
Dynamic objects in our physical 4D (3D + time) world are constantly evolving, deforming, and interacting with other objects, leading to diverse 4D scene dynamics. In this paper, we present a universal generative pipeline, CHORD, for…