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Model predictive control (MPC) is a popular control method that has proved effective for robotics, among other fields. MPC performs re-planning at every time step. Re-planning is done with a limited horizon per computational and real-time…

Aligning Large Language Models (LLMs) with human preferences through finetuning is resource-intensive, motivating lightweight alternatives at test time. We address test-time alignment through the lens of sequential decision making, a…

With the increasingly giant scales of (causal) large language models (LLMs), the inference efficiency comes as one of the core concerns along the improved performance. In contrast to the memory footprint, the latency bottleneck seems to be…

AI agents are increasingly deployed in complex, interactive environments, yet their runtime remains a major bottleneck for training, evaluation, and real-world use. Typical agent behavior unfolds sequentially, with each action requiring an…

Inexact methods for model predictive control (MPC), such as real-time iterative schemes or time-distributed optimization, alleviate the computational burden of exact MPC by providing suboptimal solutions. While the asymptotic stability of…

Task and Motion Planning has made great progress in solving hard sequential manipulation problems. However, a gap between such planning formulations and control methods for reactive execution remains. In this paper we propose a model…

LLM-based search agents achieve strong performance but suffer from severe latency, as each step requires serialized LLM reasoning followed by action of tool execution. We revisit this bottleneck through the lens of speculation. While…

Large Language Model (LLM) serving systems batch concurrent user requests to achieve efficient serving. However, in real-world deployments, such inter-request parallelism from batching is often limited by external factors such as low…

Deploying LLM-based agents in real-life applications often faces a critical challenge: the misalignment between agents' behavior and user intent. Such misalignment may lead agents to unintentionally execute critical actions that carry…

Speculative decoding accelerates large language model (LLM) inference by using a lightweight draft model to propose tokens that are later verified by a stronger target model. While effective in centralized systems, its behavior in…

Model Predictive Control (MPC) is a powerful control strategy widely utilized in domains like energy management, building control, and autonomous systems. However, its effectiveness in real-world settings is challenged by the need to…

Model Predictive Control (MPC) is a widely used technique for managing timevarying systems, supported by extensive theoretical analysis. While theoretical studies employing dynamic regret frameworks have established robust performance…

We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots. The proposed approach uses a constrained optimal control algorithm known as SLQ. We improve the efficiency of this algorithm…

Speculative backpropagation has emerged as a promising technique to accelerate the training of neural networks by overlapping the forward and backward passes. Leveraging speculative weight updates when error gradients fall within a specific…

In this paper, we investigate the problem of Model Predictive Control (MPC) of dynamic systems for high-level specifications described by Signal Temporal Logic (STL) formulae. Recent works show that MPC has the great potential in handling…

Inference-time scaling enhances the reasoning ability of a language model (LM) by extending its chain-of-thought (CoT). However, existing approaches typically generate the entire reasoning chain in a single forward pass, which often leads…

We introduce CopySpec, a simple yet effective technique to tackle the inefficiencies LLMs face when generating responses that closely resemble previous outputs or responses that can be verbatim extracted from context. CopySpec identifies…

This paper proposes a new sampling-based nonlinear model predictive control (MPC) algorithm, with a bound on complexity quadratic in the prediction horizon N and linear in the number of samples. The idea of the proposed algorithm is to use…

In control applications there is often a compromise that needs to be made with regards to the complexity and performance of the controller and the computational resources that are available. For instance, the typical hardware platform in…

LLM-powered agents are emerging as a dominant paradigm for autonomous task solving. Unlike standard inference workloads, agents operate in a strictly serial "LLM-tool" loop, where the LLM must wait for external tool execution at every step.…