106 citations · 290 across the 63 of their papers we have counts for
70 papers
Auditable and Deployable Multi-Agent Motion Planning via Posetal Games from Legal Guidelines
Florian Lercher, Karan Mahesh, Yujun Huang +6
When robots are deployed in the real-world, they must interact with other agents and accomplish their own goals while adhering to legal constraints. These potentially conflicting o…
Compositional Sensitivity Analysis for Multiobjective System Co-Design
Alan Bonomi, Antonio Terpin, Yubo Cai +3
Sensitivity analysis of coupled systems typically propagates derivatives of single-valued maps, whereas multiobjective optimization generally treats sensitivity at the system level…
Metric-Based Equilibrium Selection in Noncooperative Differentiable Games
Karan Mahesh, Runyu Zhang, Michael R. Benjamin +1
Metric conditioning can change which equilibrium attracts learning dynamics without moving the equilibria of a differentiable game. We study how to use state-dependent symmetric po…
Estimate then Predict: Convex Formulation for Travel Demand Forecasting
Youngseo Kim, Gioele Zardini, Samitha Samaranayake +1
Travel demand forecasting is essential for evaluating large-scale infrastructure projects, yet the traditional sequential four-step process can produce inconsistencies across trip…
Denoising as Projection: Constrained Optimization with Gradient-Guided Diffusion
Runyu Zhang, Jiawei Zhang, Gioele Zardini +2
Diffusion models are increasingly used not only for sampling from learned data distributions, but also for generating samples that optimize task-specific objectives. A common appro…
Dual-Informed Vertical Expansion for Multi-Objective Node Selection in Anytime Conflict-Based Search
Willem van Osselaer, Jiarui Li, Meshal Alharbi +1
Conflict-Based Search (CBS) is a leading exact algorithm for Multi-Agent Path Finding (MAPF), but its high-level node-selection rule is usually treated as a fixed implementation de…
Principles of Robot Autonomy
Daniele Gammelli, Joseph Lorenzetti, Katie Luo +2
Autonomous robots are moving rapidly from research labs into everyday life - on roads, in the air, in warehouses, and in space. Robot autonomy is no longer solely an academic pursu…
Uncertainty-Aware End-to-End Co-Design of Neural Network Processors: From Training and Mapping to Fabrication
Yuyang Du, Yujun Huang, Gioele Zardini
Designing a neural network processor is an end-to-end co-design problem: network architecture and training budget determine the inference workload; hardware mapping decisions deter…
Implementation-Based Incentive Design for Autonomous Mobility-on-Demand and Transit Systems
Xinling Li, Runyu Zhang, Gioele Zardini
Achieving a socially desirable operating point for a multimodal transportation system is challenging when Autonomous Mobility-on-Demand (AMoD) and Public Transit (PT) operators pur…
Compositional Online Learning for Multi-Objective System Co-Design
Meshal Alharbi, Munther A. Dahleh, Gioele Zardini
Many engineered systems must balance competing objectives, such as performance and safety, cost and reliability, or efficiency and sustainability, and are naturally modeled as comp…
Task-Driven Co-Design of Heterogeneous Multi-Robot Systems
Maximilian Stralz, Meshal Alharbi, Yujun Huang +1
The design of multi-agent robotic systems involves tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort ha…
Random-Subspace Sequential Quadratic Programming for Constrained Zeroth-Order Optimization
Runyu Zhang, Gioele Zardini
We study nonlinear constrained optimization problems in which only function evaluations of the objective and constraints are available. Existing zeroth-order methods rely on noisy…
A Category-Theoretic Framework from Biological Mechanics to Engineered Stimulus-Response Systems
Lee Marom, Skylar Tibbits, Gioele Zardini +1
Natural materials achieve adaptive behavior through hierarchical organization and coupled mechanisms across scales. Their translation into engineering, however, remains largely heu…
Weaves, Wires, and Morphisms: Formalizing and Implementing the Algebra of Deep Learning
Vincent Abbott, Gioele Zardini
Despite deep learning models running well-defined mathematical functions, we lack a formal mathematical framework for describing model architectures. Ad-hoc notation, diagrams, and…
Mean-Field Control of Adherence in Participation-Coupled Vehicle Rebalancing Systems
Avalpreet Singh Brar, Rong Su, Jaskaranveer Kaur +1
Human driver participation is a critical source of uncertainty in Mobility-on-Demand (MoD) rebalancing. Drivers follow platform recommendations probabilistically, and their willing…
Certificate-Driven Closed-Loop Multi-Agent Path Finding with Inheritable Factorization
Jiarui Li, Runyu Zhang, Gioele Zardini
Multi-agent coordination in automated warehouses and logistics is commonly modeled as the Multi-Agent Path Finding (MAPF) problem. Closed-loop MAPF algorithms improve scalability b…
Quantale-Enriched Co-Design: Toward a Framework for Quantitative Heterogeneous System Design
Hans Riess, Yujun Huang, Matthew Klawonn +2
Monotone co-design enables compositional engineering design by modeling components through feasibility relations between required resources and provided functionalities. However, i…
Scalable Co-Design via Linear Design Problems: Compositional Theory and Algorithms
Yubo Cai, Yujun Huang, Meshal Alharbi +1
Designing complex engineered systems requires managing tightly coupled trade-offs between subsystem capabilities and resource requirements. Monotone co-design provides a compositio…
Composable Uncertainty in Symmetric Monoidal Categories for Design Problems
Marius Furter, Yujun Huang, Gioele Zardini
Applied category theory often studies symmetric monoidal categories (SMCs) whose morphisms represent open systems. These structures naturally accommodate complex wiring patterns, l…
Distributional Uncertainty and Adaptive Decision-Making in System Co-design
Yujun Huang, Gioele Zardini
Complex engineered systems require coordinated design choices across heterogeneous components under conflicting objectives and uncertain specifications. Monotone co-design provides…
A Globally Convergent Third-Order Newton Method via Unified Semidefinite Programming Subproblems
Yubo Cai, Wenqi Zhu, Coralia Cartis +1
We propose the Adaptive Levenberg-Marquardt Third-Order Newton Method (ALM-TON) method for unconstrained nonconvex optimization; to our knowledge, the framework provides the first…
Where Should Robotaxis Operate? Strategic Network Design for Autonomous Mobility-on-Demand
Xinling Li, Gioele Zardini
The emergence of Autonomous Mobility-on-Demand (AMoD) services creates new opportunities to improve the efficiency and reliability of on-demand mobility systems. Unlike human-drive…
Adaptive-Horizon Conflict-Based Search for Closed-Loop Multi-Agent Path Finding
Jiarui Li, Federico Pecora, Runyu Zhang +1
Multi-Agent Path Finding (MAPF) is a core coordination problem for large robot fleets in automated warehouses and logistics. Existing approaches are typically either open-loop plan…
A Categorical Approach to Semantic Interoperability across Building Lifecycle
Zoltan Nagy, Ryan Wisnesky, Kevin Carlson +2
Buildings generate heterogeneous data across their lifecycle, yet integrating these data remains a critical unsolved challenge. Despite three decades of standardization efforts, ov…