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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…

This paper studies data-driven iterative learning control (ILC) for linear time-invariant (LTI) systems with unknown dynamics, output disturbances and input box-constraints. Our main contributions are: 1) using a non-parametric data-driven…

Incremental input-to-state stability (delta-ISS) offers a robust framework to ensure that small input variations result in proportionally minor deviations in the state of a nonlinear system. This property is essential in practical…

Model-free policy learning has been shown to be capable of learning manipulation policies which can solve long-time horizon tasks using single-step manipulation primitives. However, training these policies is a time-consuming process…

In this contribution, we present a constructive method to derive flat sampled-data models for continuous-time flat systems through an implicit Euler-discretization. We show how the sampled-data model can be used subsequently for a…

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…

Existing large language models (LLMs) evaluations use fixed-difficulty benchmarks that cannot adapt as models improve, and rarely isolate specific cognitive processes. We introduce Working Memory Fidelity-Active Manipulation (WMF-AM), a…

Deploying Large Language Models (LLMs) on edge devices remains challenging due to their quadratically increasing computations with the sequence length. Existing studies for dynamic attention pruning are designed for hardware with massively…

In this paper, we tackle the state transformation problem in non-strict full state-constrained systems by introducing an adaptive fixed-time control method, utilizing a one-to-one asymmetric nonlinear mapping auxiliary system. Additionally,…

We develop a method to control discrete-time systems with constant but initially unknown parameters from linear temporal logic (LTL) specifications. We introduce the notions of (non-deterministic) parametric and adaptive transition systems…

Recently, a novel system identification method based on invariant subspace theory is introduced, aiming to address the identification problem of continuous-time (CT) linear time-invariant (LTI) systems by combining time-domain and…

LLM systems must make control decisions in addition to generating outputs: whether to answer, clarify, retrieve, call tools, repair, or escalate. In many current architectures, these decisions remain implicit within generation, entangling…

This paper addresses the problem of data-driven model discrimination for unknown switched systems with unknown linear temporal logic (LTL) specifications, representing tasks, that govern their mode sequences, where only sampled data of the…

In this paper, we present a novel framework to synthesize robust strategies for discrete-time nonlinear systems with random disturbances that are unknown, against temporal logic specifications. The proposed framework is data-driven and…

The advancement of text-to-image synthesis has introduced powerful generative models capable of creating realistic images from textual prompts. However, precise control over image attributes remains challenging, especially at the instance…

Inference-time LLM alignment methods, particularly activation steering, offer an alternative to fine-tuning by directly modifying activations during generation. Existing methods, however, often rely on non-anticipative interventions that…

We present a finite-time framework for identifying stable and unstable linear time-invariant (LTI) systems from a single closed-loop input-output trajectory. The method does not require knowledge of the stabilizing controller, an…

This paper presents an indirect data-driven output feedback controller synthesis for nonlinear systems, leveraging Structured State-space Models (SSMs) as surrogate models. SSMs have emerged as a compelling alternative in modelling…

Model routing is a simple technique for reducing the inference cost of large language models (LLMs), wherein one maintains a pool of candidate LLMs, and learns to route each prompt to the smallest feasible LLM. Existing works focus on…

This paper introduces a Distributed Unknown Input Observer (D-UIO) design methodology that uses a technique called node-wise detectability decomposition to estimate the state of a discrete-time linear time-invariant (LTI) system in a…