Related papers: LITHE: Bridging Best-Effort Python and Real-Time C…
This paper presents SHARP (Supercomputing for High-speed Avoidance and Reactive Planning), a proof-of-concept study demonstrating how high-performance computing (HPC) can enable millisecond-scale responsiveness in robotic control. While…
The internalization of chain-of-thought processes into hidden states has emerged as a highly efficient paradigm for scaling test-time compute. However, existing activation steering methods rely on static control vectors that fail to adapt…
With the increasing scale of models, the need for efficient distributed training has become increasingly urgent. Recently, many synchronous pipeline parallelism approaches have been proposed to improve training throughput. However, these…
Real-time and cyber-physical systems need to interact with and respond to their physical environment in a predictable time. While multicore platforms provide incredible computational power and throughput, they also introduce new sources of…
Consumer robotics demands consolidation of safety-critical control, perception pipelines, and user applications on shared multicore platforms. While static partitioning hypervisors provide hardware-enforced isolation, directly transplanting…
Non-volatile random access memory (NVRAM) offers byte-addressable persistence at speeds comparable to DRAM. However, with caches remaining volatile, automatic cache evictions can reorder updates to memory, potentially leaving persistent…
Balancing the workload of sophisticated simulations is inherently difficult, since we have to balance both computational workload and memory footprint over meshes that can change any time or yield unpredictable cost per mesh entity, while…
Coroutines are experiencing a renaissance as many modern programming languages support the use of cooperative multitasking for highly parallel or asynchronous applications. One of the greatest advantages of this is that concurrency and…
Non-linearities in simulation arise from the time variance in wireless mobile networks when integrated with human in the loop, human in the plant (HIL-HIP) physical systems under dynamic contexts, leading to simulation slowdown. Time…
Task planning with temporally extended goals (TEGs) is a critical challenge in AI and robotics, enabling agents to achieve complex sequences of objectives over time rather than addressing isolated, immediate tasks. Linear Temporal Logic on…
In Complex Event Processing, handling out-of-order, late, and duplicate events is critical for real-time analytics, especially on resource-constrained devices that process heterogeneous data from multiple sources. We present LimeCEP, a…
Dynamic program analysis is invaluable for malware detection, debugging, and performance profiling. However, software-based instrumentation incurs high overhead and can be evaded by anti-analysis techniques. In this paper, we propose…
In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy shaping algorithms for efficient human-robot interactions in…
It has long been realized that neuromorphic hardware offers benefits for the domain of robotics such as low energy, low latency, as well as unique methods of learning. In aiming for more complex tasks, especially those incorporating…
Modern UAV architectures increasingly aim to unify high-level autonomy and low-level flight control on a single General-Purpose Operating System (GPOS). However, complex multi-core System-on-Chips (SoCs) introduce significant timing…
Modern society is increasingly surrounded by, and accustomed to, a wide range of Cyber-Physical Systems (CPS), Internet-of-Things (IoT), and smart devices. They often perform safety-critical functions, e.g., personal medical devices,…
More and more robot automation applications have changed to wireless communication, and network performance has a growing impact on robotic systems. This study proposes a hardware-in-the-loop (HiL) simulation methodology for connecting the…
Heterogeneous systems are present from powerful supercomputers, to mobile devices, including desktop computers, thanks to their excellent performance and energy consumption. The ubiquity of these architectures in both desktop systems and…
We propose and experimentally demonstrate a reactive planning system for bipedal robots on unexplored, challenging terrains. The system consists of a low-frequency planning thread (5 Hz) to find an asymptotically optimal path and a…
Real-time embedded platforms with resource constraints can take the benefits of mixed-criticality system where applications with different criticality-level share computational resources, with isolation in the temporal and spatial domain. A…