相关论文: Fast and Expressive Multi-Token Prediction with Pr…

This research introduces a multi-horizon contingency model predictive control (CMPC) framework in which classes of robust MPC (RMPC) algorithms are combined with classes of learning-based MPC (LB-MPC) algorithms to enable safe learning. We…

Effectively modeling non-stationary dynamics in probabilistic multivariate time series(MTS) forecasting requires balancing expressiveness with robustness. Existing parametric approaches benefit from strong inductive biases but lack…

Sampling-based model predictive control (MPC) offers strong performance in nonlinear and contact-rich robotic tasks, yet often suffers from poor exploration due to locally greedy sampling schemes. We propose \emph{Model Tensor Planning}…

The trade-off between optimality and complexity has been one of the most important challenges in the field of robust Model Predictive Control (MPC). To address the challenge, we propose a flexible robust MPC scheme by synergizing the…

As large language models gain widespread adoption, running them efficiently becomes crucial. Recent works on LLM inference use speculative decoding to achieve extreme speedups. However, most of these works implicitly design their algorithms…

Optimizing training performance in large language models (LLMs) remains an essential challenge, particularly in improving model performance while maintaining computational costs. This work challenges the conventional approach of training…

The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…

Causal decoder-only transformer models used for generative language modelling, such as Generative Pre-trained Transformers (GPT), are trained to predict the next token in a sequence based only on its previous tokens. Despite this simple…

The goal of this paper is to accelerate codec-based speech synthesis systems with minimum sacrifice to speech quality. We propose an enhanced inference method that allows for flexible trade-offs between speed and quality during inference…

Probabilistic circuits (PCs) are powerful probabilistic models that enable exact and tractable inference, making them highly suitable for probabilistic reasoning and inference tasks. While dominant in neural networks, representation…

This paper presents an efficient suboptimal model predictive control (MPC) algorithm for nonlinear switched systems subject to minimum dwell time constraints (MTC). While MTC are required for most physical systems due to stability, power…

Large language models (LLMs) have demonstrated broad utility across molecular domains, spanning drug discovery and materials design. Analyzing LLMs' latent representations is crucial for elucidating their underlying mechanisms, improving…

We present a model predictive control (MPC) framework for nonlinear stochastic systems that ensures safety guarantee with high probability. Unlike most existing stochastic MPC schemes, our method adopts a set-erosion that converts the…

Improving time-to-first-token (TTFT) is an essentially important objective in modern large language model (LLM) inference engines. Optimizing TTFT directly results in higher maximal QPS and meets the requirements of many critical…

We propose a robust data-driven model predictive control (MPC) scheme to control linear time-invariant (LTI) systems. The scheme uses an implicit model description based on behavioral systems theory and past measured trajectories. In…

In spite of the great potential of large language models (LLMs) across various tasks, their deployment on resource-constrained devices remains challenging due to their excessive computational and memory demands. Quantization has emerged as…

Building on the foundations of language modeling in natural language processing, Next Token Prediction (NTP) has evolved into a versatile training objective for machine learning tasks across various modalities, achieving considerable…

Secure Multi-Party Computation (MPC) is an important enabling technology for data privacy in modern distributed applications. Currently, proof methods for low-level MPC protocols are primarily manual and thus tedious and error-prone, and…

A robust Learning Model Predictive Controller (LMPC) for uncertain systems performing iterative tasks is presented. At each iteration of the control task the closed-loop state, input and cost are stored and used in the controller design.…

Chain-of-thought (CoT) reasoning improves large language models (LLMs) on difficult tasks, but it also makes inference expensive because every intermediate step must be generated as a discrete token. Latent reasoning reduces visible token…