Related papers: Modular SAIL: dream or reality?
Autonomous underwater robots typically require higher cost and time for demonstrations compared to other domains due to the complexity of the environment. Due to the limited capacity and payload flexibility, it is challenging to find…
This work presents MLIR, a novel approach to building reusable and extensible compiler infrastructure. MLIR aims to address software fragmentation, improve compilation for heterogeneous hardware, significantly reduce the cost of building…
This work introduces MICSim, an open-source, pre-circuit simulator designed for early-stage evaluation of chip-level software performance and hardware overhead of mixed-signal compute-in-memory (CIM) accelerators. MICSim features a modular…
In this paper, we investigate code-integrated reasoning, where models generate code when necessary and integrate feedback by executing it through a code interpreter. To acquire this capability, models must learn when and how to use external…
Autonomous driving is not one single technology but rather a complex system integrating many technologies, which means that teaching autonomous driving is a challenging task. Indeed, most existing autonomous driving classes focus on one of…
Earth System Models (ESMs) are critical for understanding past climates and projecting future scenarios. However, the complexity of these models, which include large code bases, a wide community of developers, and diverse computational…
This paper proposes a constructive approach to safety control of nonlinear cascade systems subject to multiple state constraints. New design ingredients include a unified characterization of safety and stability for systematic designs of…
A new approach called RESID is proposed in this paper for estimating reliability of a software allowing for imperfect debugging. Unlike earlier approaches based on counting number of bugs or modelling inter-failure time gaps, RESID focuses…
Multi-Level Intermediate Representation (MLIR) is gaining increasing attention in reconfigurable hardware communities due to its capability to represent various abstract levels for software compilers. This project aims to be the first to…
Modular autonomous vehicles (MAVs) represent a transformative paradigm in the rapidly advancing field of autonomous vehicle technology. The integration of modularity offers numerous advantages, poised to reshape urban mobility systems and…
For flexible yet safe imitation learning (IL), we propose theory and a modular method, with a safety layer that enables a closed-form probability density/gradient of the safe generative continuous policy, end-to-end generative adversarial…
We present a simple ACL2 simulator for the RISC-V 32-bit base instruction set architecture, written in the operational semantics style. Like many other ISA models, our RISC-V state object is a single-threaded object and we prove…
Current mobile manipulators and high-fidelity simulators lack the ability to seamlessly operate and simulate across integrated environments spanning sea, air, and land. To address this gap, we introduce Aerial-Aquatic Manipulators (AAMs) in…
Virtual integration techniques focus on building architectural models of systems that can be analyzed early in the design cycle to try to lower cost, reduce risk, and improve quality of complex embedded systems. Given appropriate…
In this work, experiment design for marine vessels is explored. A dictionary-based approach is used, i.e., a systematic way of choosing the most informative combination of independent experiments out of a predefined set of candidates. This…
In real-world machine learning deployments, models must be continually updated, composed, and when required, selectively undone. However, existing approaches to model merging and continual learning often suffer from task interference,…
Processing-in-memory (PIM) has shown extraordinary potential in accelerating neural networks. To evaluate the performance of PIM accelerators, we present an ISA-based simulation framework including a dedicated ISA targeting neural networks…
Robotic systems used in safety-critical industrial situations often rely on modular software architectures, and increasingly include autonomous components. Verifying that these modular robotic systems behave as expected requires approaches…
Continuous integration is an indispensable step of modern software engineering practices to systematically manage the life cycles of system development. Developing a machine learning model is no difference - it is an engineering process…
Computability theory is traditionally conceived as the theoretical basis of informatics. Nevertheless, numerous proposals transcend computability theory, in particular by emphasizing interaction of modules, or components, parts,…