Related papers: The Control Toolbox - An Open-Source C++ Library f…

Model Predictive Control (MPC) is a powerful technique to control nonlinear, multi-input multi-output systems subject to input and state constraints. It is now a standard tool for trajectory tracking control of automated vehicles. As such…

In order to efficiently use the future generations of supercomputers, fault tolerance and power consumption are two of the prime challenges anticipated by the High Performance Computing (HPC) community. Checkpoint/Restart (CR) has been and…

This paper presents an open-source neural machine translation toolkit named CytonMT (https://github.com/arthurxlw/cytonMt). The toolkit is built from scratch only using C++ and NVIDIA's GPU-accelerated libraries. The toolkit features…

Summary Brain Predictability toolbox (BPt) represents a unified framework of machine learning (ML) tools designed to work with both tabulated data (in particular brain, psychiatric, behavioral, and physiological variables) and neuroimaging…

This paper proposes a novel approach to address the challenges of deploying complex robotic software in large-scale systems, i.e., Centralized Nonlinear Model Predictive Controllers (CNMPCs) for multi-agent systems. The proposed approach is…

OpenGM is a C++ template library for defining discrete graphical models and performing inference on these models, using a wide range of state-of-the-art algorithms. No restrictions are imposed on the factor graph to allow for higher-order…

Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dynamics, motion constraints, workspace limitations, and…

The scaling of model and data sizes has reshaped the AI landscape, establishing finetuning pretrained models as the standard paradigm for solving downstream tasks. However, dominant finetuning methods typically rely on weight adaptation,…

Behavior Trees (BTs) have become a popular framework for designing controllers of autonomous agents in the computer game and in the robotics industry. One of the key advantages of BTs lies in their modularity, where independent modules can…

We study Transformers through the perspective of optimal control theory, using tools from continuous-time formulations to derive actionable insights into training and architecture design. This framework improves the performance of existing…

This paper provides the description of a novel, multi-purpose spline library. In accordance with the increasingly diverse modes of usage of splines, it is multi-purpose in the sense that it supports geometry representation, finite element…

In this paper we present KiT-RT (Kinetic Transport Solver for Radiation Therapy), an open-source C++ based framework for solving kinetic equations in radiation therapy applications. The aim of this code framework is to provide a collection…

As generative models become ubiquitous, there is a critical need for fine-grained control over the generation process. Yet, while controlled generation methods from prompting to fine-tuning proliferate, a fundamental question remains…

We introduce a new software toolbox for agent-based simulation. Facilitating rapid prototyping by offering a user-friendly Python API, its core rests on an efficient C++ implementation to support simulation of large-scale multi-agent…

In the realm of control systems, model predictive control (MPC) has exhibited remarkable potential; however, its reliance on accurate models and substantial computational resources has hindered its broader application, especially within…

Deterministic model predictive control (MPC), while powerful, is often insufficient for effectively controlling autonomous systems in the real-world. Factors such as environmental noise and model error can cause deviations from the expected…

Asynchronous Many-Task Systems (AMTs) exhibit different communication patterns from traditional High-Performance Computing (HPC) applications, characterized by asynchrony, concurrency, and multithreading. Existing communication libraries…

We present the CAPD::DynSys library for rigorous numerical analysis of dynamical systems. The basic interface is described together with several interesting case studies illustrating how it can be used for computer-assisted proofs in…

This paper presents a scalable multi-robot motion planning algorithm called Conflict-Based Model Predictive Control (CB-MPC). Inspired by Conflict-Based Search (CBS), the planner leverages a similar high-level conflict tree to efficiently…

The Timed Concurrent Constraint Language tccp is a declarative synchronous concurrent language, particularly suitable for modelling reactive systems. In tccp, agents communicate and synchronise through a global constraint store. It supports…