相关论文: Semantic Communication and Control Co-Design for M…

The concept of semantic communication provides a novel approach for applications in scenarios with limited communication resources. In this paper, we propose an end-to-end (E2E) semantic molecular communication system, aiming to enhance the…

Control and communication are often tightly coupled in motion planning of networked mobile robots, due to the fact that robotic motions will affect the overall communication quality, and the quality of service (QoS) of the communication…

This paper presents an interpretable machine learning approach that characterizes load dynamics within an operator-theoretic framework for electricity load forecasting in power grids. We represent the dynamics of load data using the Koopman…

Semantic communication has emerged as a promising approach for improving efficient transmission in the next generation of wireless networks. Inspired by the success of semantic communication in different areas, we aim to provide a new…

Controlling nonlinear dynamical systems remains a central challenge in a wide range of applications, particularly when accurate first-principle models are unavailable. Data-driven approaches offer a promising alternative by designing…

Learning dynamical systems properties from data provides important insights that help us understand such systems and mitigate undesired outcomes. In this work, we propose a framework for learning spatio-temporal (ST) properties as formal…

The applications of large language models (LLMs) have been widely spread across all domains. However, the basic abilities such as the controllability of LLMs are still limited. To address this, we propose "Self-controller", a novel agentic…

Speech language models (Speech LMs) enable end-to-end speech-text modeling within a single model, offering a promising direction for spoken dialogue systems. The choice of speech-text jointly decoding paradigm plays a critical role in…

We propose a noise-robust learning framework for the Koopman operator of nonlinear dynamical systems, with guaranteed long-term stability and improved model performance for better model-based predictive control tasks. Unlike some existing…

Offline reinforcement learning leverages large datasets to train policies without interactions with the environment. The learned policies may then be deployed in real-world settings where interactions are costly or dangerous. Current…

Optimizing the communication structure of large language model based multi-agent systems (LLM-MAS) has been shown to improve downstream performance and reduce token usage. Existing methods typically rely on randomly sampled training tasks.…

In this paper, we lay out a vision for analysing semantic trajectory traces and generating synthetic semantic trajectory data (SSTs) using generative language model. Leveraging the advancements in deep learning, as evident by progress in…

Next-generation automotive applications require vehicular edge computing (VEC), but current management systems are essentially fixed and reactive. They are suboptimal in extremely dynamic vehicular environments because they are constrained…

Large language models (LLMs) excel at handling human queries, but they can occasionally generate flawed or unexpected responses. Understanding their internal states is crucial for understanding their successes, diagnosing their failures,…

We present a mathematical programming-based method for model predictive control of cyber-physical systems subject to signal temporal logic (STL) specifications. We describe the use of STL to specify a wide range of properties of these…

We propose a novel framework for safe navigation in dynamic environments by integrating Koopman operator theory with conformal prediction. Our approach leverages data-driven Koopman approximation to learn nonlinear dynamics and employs…

Recent advances in diffusion-based robot policies have demonstrated significant potential in imitating multi-modal behaviors. However, these approaches typically require large quantities of demonstration data paired with corresponding robot…

Stochastic embedding transitions introduce a probabilistic mechanism for adjusting token representations dynamically during inference, mitigating the constraints imposed through static or deterministic embeddings. A transition framework was…

We develop an approach to learn an interpretable semi-parametric model of a latent continuous-time stochastic dynamical system, assuming noisy high-dimensional outputs sampled at uneven times. The dynamics are described by a nonlinear…

This paper continues in the work from arXiv:1903.06103 [math.OC] where a nonlinear vehicle model was approximated in a purely data-driven manner by a linear predictor of higher order, namely the Koopman operator. The vehicle system…