5 papers
SSM Adapters via Hankel Reduced-order Modeling: Injection Site Determines Task Suitability in Long-Context Fine-Tuning
Omanshu Thapliyal
While parameter-efficient fine-tuning (PEFT) typically targets attention projectors, its efficacy for tasks requiring sequential state accumulation remains under-explored. We exami…
A Multi-Head Attention Approach for SLA Compliance Monitoring in Data Centers
Omanshu Thapliyal
Service level agreements (SLAs) in data center colocation contracts define precise thresholds for power, temperature, and humidity, with tiered violation penalties expressed as cre…
Safe Navigation using Neural Radiance Fields via Reachable Sets
Omanshu Thapliyal, Malarvizhi Sankaranarayanasamy, Ravigopal Vennelakanti
Safe navigation in cluttered environments is an important challenge for autonomous systems. Robots navigating through obstacle ridden scenarios need to be able to navigate safely i…
An Algorithm for Distributed Computation of Reachable Sets for Multi-Agent Systems
Omanshu Thapliyal, Shanelle Clarke, Inseok Hwang
In this paper, we consider the problem of distributed reachable set computation for multi-agent systems (MASs) interacting over an undirected, stationary graph. A full state-feedba…
Direct Data-Driven Discrete-time Bilinear Biquadratic Regulator
Shanelle G. Clarke, Omanshu Thapliyal, Inseok Hwang
We present a novel direct data-driven algorithm that learns an optimal control policy for the Bilinear Biquadratic Regulator (BBR) for an unknown bilinear system. The BBR is diffic…