Related papers: Compiling Control as Offline Partial Deduction
This paper explores the theoretical limits of using discrete abstractions for nonlinear control synthesis. More specifically, we consider the problem of deciding continuous-time control with temporal logic specifications. We prove that…
Model Predictive Control (MPC) can efficiently control constrained systems in real-time applications. MPC feedback law for a linear system with linear inequality constraints can be explicitly computed off-line, which results in an off-line…
Coding standards are essential for maintaining consistent and high-quality code across teams and projects. Linters help developers enforce these standards by detecting code violations. However, manual linter configuration is complex and…
We study online control for continuous-time linear systems with finite sampling rates, where the objective is to design an online procedure that learns under non-stochastic noise and performs comparably to a fixed optimal linear controller.…
This paper proposes a data-driven control framework to regulate an unknown, stochastic linear dynamical system to the solution of a (stochastic) convex optimization problem. Despite the centrality of this problem, most of the available…
This paper describes the optimal selection of a control policy to program the steady state of controlled nonlinear systems with hyperbolic fixed points. This work is motivated by the field of synthetic biology, in which saddle points are…
We introduce Compositional Imitation Learning and Execution (CompILE): a framework for learning reusable, variable-length segments of hierarchically-structured behavior from demonstration data. CompILE uses a novel unsupervised,…
Most incremental learners excessively prioritize coarse classes of objects while neglecting various kinds of states (e.g. color and material) attached to the objects. As a result, they are limited in the ability to reason fine-grained…
We study generalizable policy learning from demonstrations for complex low-level control (e.g., contact-rich object manipulations). We propose a novel hierarchical imitation learning method that utilizes sub-optimal demos. Firstly, we…
Specification synthesis is the process of deriving a model from the input-output traces of a system. It is used extensively in test design, reverse engineering, and system identification. One type of the resulting artifact of this process…
Static analysis approximates the results of a program by examining only its syntax. For example, control-flow analysis (CFA) determines which syntactic lambdas (for functional languages) or (for object-oriented) methods may be invoked at…
The control Lyapunov function (CLF) approach to nonlinear control design is well established. Moreover, when the plant is control affine and polynomial, sum-of-squares (SOS) optimization can be used to find a polynomial controller as a…
First Order Logic (FOL) is a powerful reasoning tool for program verification. Recent work on Ivy shows that FOL is well suited for verification of parameterized distributed systems. However, specifying many natural objects, such as a ring…
In many areas of engineering, nonlinear numerical analysis is playing an increasingly important role in supporting the design and monitoring of structures. Whilst increasing computer resources have made such formerly prohibitive analyses…
We present a new method for scaling automatic configuration of computer networks. The key idea is to relax the computationally hard search problem of finding a configuration that satisfies a given specification into an approximate objective…
In this work, we propose a rigorous method for implementing predictor feedback controllers in nonlinear systems with unknown and arbitrarily long actuator delays. To address the analytically intractable nature of the predictor, we…
Recent transformer language models achieve outstanding results in many natural language processing (NLP) tasks. However, their enormous size often makes them impractical on memory-constrained devices, requiring practitioners to compress…
Refactoring is an established technique from the object-oriented (OO) programming community to restructure code: it aims at improving software readability, maintainability and extensibility. Although refactoring is not tied to the…
In this work, we apply anomaly detection to source code and bytecode to facilitate the development of a programming language and its compiler. We define anomaly as a code fragment that is different from typical code written in a particular…
Steering a system towards a desired target in a very short amount of time is challenging from a computational standpoint. Indeed, the intrinsically iterative nature of optimal control problems requires multiple simulations of the physical…