10 papers
Structured LLM Reasoning for Zero-Shot Human--Robot Coordination Under Hidden Goals
Dong Hae Mangalindan, Anand Gokhale, Francesco Bullo +1
We present a structured large-language-model (LLM) architecture for zero-shot human--robot coordination in a cooperative construction task with private goal views. Guided by a Dec-…
Regularized Model Predictive Control via Contractivity and Implicit Lur'e Analysis
Ryotaro Shima, Anand Gokhale, Alexander Davydov +1
This paper develops a contraction-based stability analysis for regularized model predictive control (MPC), whose feedback law is defined implicitly by a finite-horizon optimal cont…
Sampled-data Systems: Stability, Contractivity and Single-iteration Suboptimal MPC
Yiting Chen, Francesco Bullo, Emiliano Dall'Anese
This paper analyzes the stability of interconnected continuous-time (CT) and discrete-time (DT) systems coupled through sampling and zero-order hold mechanisms. The DT system updat…
Proximal Gradient Dynamics and Feedback Control for Equality-Constrained Composite Optimization
Veronica Centorrino, Francesca Rossi, Francesco Bullo +1
This paper studies equality-constrained composite minimization problems. This class of problems, capturing regularization terms and inequality constraints, naturally arises in a wi…
Neural Policy Composition from Free Energy Minimization
Francesca Rossi, Veronica Centorrino, Francesco Bullo +1
The ability to flexibly compose previously acquired skills to execute intelligent behaviors is a hallmark of natural intelligence. Such compositional flexibility is often attribute…
LogicGuard: Improving Embodied LLM agents through Temporal Logic based Critics
Anand Gokhale, Vaibhav Srivastava, Francesco Bullo
Large language models (LLMs) have shown promise in zero-shot and single step reasoning and decision making problems, but in long horizon sequential planning tasks, their errors com…