5 citations · 8 across the 4 of their papers we have counts for
7 papers
Deep learning from a control vantage point
Álvaro Rodríguez Abella, João Pedro Silvestre, Bahman Gharesifard +1
This article offers an overview of recent developments in deep learning from a control vantage point. It reviews several classes of models including feedforward and residual neural…
Covariant Euler-Poincaré Reduction for Field Theories on Centered Semidirect Products
Miguel Ángel Berbel, Leonardo Colombo, Álvaro Rodríguez Abella
Let be a Lie group equipped with commuting left and right linear representations on a vector space , and let be the associated centered semidirect product. We dev…
The Attention Within: Consensus Dynamics in Selective State Space Models
João Pedro Silvestre, Álvaro Rodríguez Abella, Paulo Tabuada
Selective state space models (SSMs) have recently emerged as a compelling alternative to transformers, combining competitive performance with substantially improved inference effic…
Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints
Leonardo Colombo, Álvaro Rodríguez Abella, Alexandre Anahory Simoes +1
Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain. Standard control approaches typically assume no-slip contact and therefore de…
The Asymptotic Behavior of Attention in Transformers
Álvaro Rodríguez Abella, João Pedro Silvestre, Paulo Tabuada
The transformer architecture has become the foundation of modern Large Language Models (LLMs), yet its theoretical properties are still not well understood. As with classic neural…
Implicit Nonholonomic Mechanics with Collisions
Álvaro Rodríguez Abella, Leonardo Colombo
In this paper, variational techniques are used to analyze the dynamics of nonholonomic mechanical systems with impacts. Implicit nonholonomic smooth Lagrangian and Hamiltonian syst…
Discrete Dirac reduction of implicit Lagrangian systems with abelian symmetry groups
Álvaro Rodríguez Abella, Melvin Leok
This paper develops the theory of discrete Dirac reduction of discrete Lagrange-Dirac systems with an abelian symmetry group acting on the configuration space. We begin with the li…