Related papers: Correct Wrong Path
Making threaded programs safe and easy to reason about is one of the chief difficulties in modern programming. This work provides an efficient execution model for SCOOP, a concurrency approach that provides not only data race freedom but…
Speculative side-channel attacks access sensitive data and use transmitters to leak the data during wrong-path execution. Various defenses have been proposed to prevent such information leakage. However, not all speculatively executed…
Motion forecasting is crucial in enabling autonomous vehicles to anticipate the future trajectories of surrounding agents. To do so, it requires solving mapping, detection, tracking, and then forecasting problems, in a multi-step pipeline.…
Particle tracking in large-scale numerical simulations of turbulent flows presents one of the major bottlenecks in parallel performance and scaling efficiency. Here, we describe a particle tracking algorithm for large-scale parallel…
Model mismatch and process noise are two frequently occurring phenomena that can drastically affect the performance of model predictive control (MPC) in practical applications. We propose a principled way to tune the cost function and the…
Recent advances in natural language processing highlight two key factors for improving reasoning in large language models (LLMs): (i) allocating more test-time compute tends to help on harder problems but often introduces redundancy in the…
High-performance, multi-core processors are the key to accelerating workloads in several application domains. To continue to scale performance at the limit of Moore's Law and Dennard scaling, software and hardware designers have turned to…
Reactive trajectory optimization for robotics presents formidable challenges, demanding the rapid generation of purposeful robot motion in complex and swiftly changing dynamic environments. While much existing research predominantly…
Whenever modern CPUs encounter a conditional branch for which the condition cannot be evaluated yet, they predict the likely branch target and speculatively execute code. Such pipelining is key to optimizing runtime performance and is…
Classical penalty methods solve a sequence of unconstrained problems that put greater and greater stress on meeting the constraints. In the limit as the penalty constant tends to $\infty$, one recovers the constrained solution. In the exact…
Modern software projects include automated tests written to check the programs' functionality. The set of functions invoked by a test is called the trace of the test, and the action of obtaining a trace is called tracing. There are many…
This article is an overview of the various literature on path tracking methods and their implementation in simulation and realistic operating environments.The scope of this study includes analysis, implementation,tuning, and comparison of…
In this article we show how the model predictive path following controller allows robotic manipulators to stop at obstructions in a way that model predictive trajectory tracking controllers cannot. We present both controllers as applied to…
We propose a set of benchmarks that specifically targets a major cause of performance degradation in high performance computing platforms: irregular access patterns. These benchmarks are meant to be used to asses the performance of…
Sophisticated trajectory prediction models that effectively mimic team dynamics have many potential uses for sports coaches, broadcasters and spectators. However, through experiments on soccer data we found that it can be surprisingly…
Offline runtime verification involves the static analysis of executions of a system against a specification. For distributed systems, it is generally not possible to characterize executions in the form of global traces, given the absence of…
Dose-finding trials are a key component of the drug development process and rely on a statistical design to help inform dosing decisions. Triallists wishing to choose a design require knowledge of operating characteristics of competing…
Performance analysis is a critical step in the oft-repeated, iterative process of performance tuning of parallel programs. Per-process, per-thread traces (detailed logs of events with timestamps) enable in-depth analysis of parallel program…
In this paper, we present a learning-based approach that allows a robot to quickly follow a reference path defined in joint space without exceeding limits on the position, velocity, acceleration and jerk of each robot joint. Contrary to…
Multi-threaded programs are expected to improve responsiveness and conserve resources by dividing an application process into multiple threads for concurrent processing. However, due to scheduling and the interaction of multiple threads,…