Related papers: Correct Wrong Path
This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the steering angle as a direct control input;…
When planning with an inaccurate dynamics model, a practical strategy is to restrict planning to regions of state-action space where the model is accurate: also known as a \textit{model precondition}. Empirical real-world trajectory data is…
The goal of Multi-Agent Path Finding (MAPF) is to find a set of paths for a fleet of agents moving in a shared environment such that the agents reach their goals without colliding with each other. In practice, some of the robots executing…
In this paper, we consider how to provide fast estimates of flow-level tail latency performance for very large scale data center networks. Network tail latency is often a crucial metric for cloud application performance that can be affected…
Runahead execution is a continuously evolving microarchitectural technique for processor performance. This paper introduces the first transient execution attack on the runahead execution, called SPECRUN, which exploits the unresolved branch…
Despite the remarkable successes of large language models (LLMs), the underlying Transformer architecture has inherent limitations in handling complex reasoning tasks. Chain-of-thought (CoT) prompting has emerged as a practical workaround,…
Computational Steering, the combination of a simulation back-end with a visualisation front-end, offers great possibilities to exploit and optimise scenarios in engineering applications. Due to its interactivity, it requires fast grid…
Industry has gradually moved towards application-specific hardware accelerators in order to attain higher efficiency. While such a paradigm shift is already starting to show promising results, designers need to spend considerable manual…
Business process simulation is a versatile technique to predict the impact of one or more changes on the performance of a process. Mainstream approaches in this space suffer from various limitations, some stemming from the fact that they…
An accurate prediction of scheduling and execution of instruction streams is a necessary prerequisite for predicting the in-core performance behavior of throughput-bound loop kernels on out-of-order processor architectures. Such predictions…
In this paper, we study the inference accuracy of the Resistive Random Access Memory (ReRAM) neuromorphic circuit due to stuck-at faults (stuck-on, stuck-off, and stuck at a certain resistive value). A simulation framework using Python is…
Modern processors rely heavily on speculation to keep the pipeline filled and consequently execute and commit instructions as close to maximum capacity as possible. To improve instruction-level parallelism, the processor core needs to fetch…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…
The ability to accurately estimate job runtime properties allows a scheduler to effectively schedule jobs. State-of-the-art online cluster job schedulers use history-based learning, which uses past job execution information to estimate the…
This paper presents a scheme for efficient channel usage between simulator and accelerator where the accelerator models some RTL sub-blocks in the accelerator-based hardware/software co-simulation while the simulator runs transaction-level…
This short paper presents an efficient path following solution for ground vehicles tailored to game AI. Our focus is on adapting established techniques to design simple solutions with parameters that are easily tunable for an efficient…
The overall problem addressed in this paper is the long-standing problem of program correctness, and in particular programs that describe systems of parallel executing processes. We propose a new method for proving correctness of parallel…
Real-world applications are now processing big-data sets, often bottlenecked by the data movement between the compute units and the main memory. Near-memory computing (NMC), a modern data-centric computational paradigm, can alleviate these…
Computer architecture simulation is essential for evaluating new designs without the need for costly tapeout. The community has developed dozens of valuable simulators that have enabled significant architectural advances. However, using and…
GPU architectures have become popular for executing general-purpose programs. Their many-core architecture supports a large number of threads that run concurrently to hide the latency among dependent instructions. In modern GPU…