Control, Simple
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Artificial-reference tracking MPC with probabilistically validated performance on industrial embedded systems
arXiv:2511.03603v2 Announce Type: replace Abstract: Industrial embedded systems are typically used to execute simple control algorithms due to their low computational resources. Despite these limitations, the implementation of advanced control techniques such as Model Predictive Control (MPC) has been explored by the control community in recent years, typically considering simple linear formulations or explicit ones to facilitate the online computation of the control input. These...
Risk-Aware Control of Systems with Quasi-Cone-Bounded Nonlinearities
arXiv:2606.08208v1 Announce Type: new Abstract: We develop a tractable, rigorous approach to risk-aware control for a class of nonlinear systems. While many classical control methods reduce uncertainty to a simple average or a worst-case outcome, risk-aware control aims to equip systems with a refined awareness of uncertainty. Efficient methods for risk-aware control of linear systems are available, but there is a paucity of tools for tractable, risk-aware control of nonlinear systems.
Chebyshev Policies and the Mountain Car Problem: Reinforcement Learning for Low-Dimensional Control Tasks
arXiv:2605.22305v2 Announce Type: replace Abstract: We analytically solve the Mountain Car problem, a canonical benchmark in RL, and derive an optimal control solution, closing a gap after 36 years. This enables us to reveal two surprising insights: The optimal control is quite simple, yet modern RL agents display a large gap to optimality. Motivated by the analysis of the optimal control, we introduce Chebyshev policies as a universal (i.e. dense) class of RL policies from first principles.
Pinterest Canvas: Large-Scale Image Generation at Pinterest
arXiv:2603.06453v2 Announce Type: replace Abstract: While recent image generation models demonstrate a remarkable ability to handle a wide variety of image generation tasks, this flexibility makes them hard to control via prompting or simple inference adaptation alone, rendering them unsuitable for use cases with strict product requirements. In this paper, we introduce Pinterest Canvas, our large-scale image generation system built to support image editing and enhancement use cases at...
Emergent swimming strategies of a smart three-bead swimmer
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A Geometric Account of Activation Steering through Angle-Norm Decomposition
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Direct 3D-Aware Object Insertion via Decomposed Visual Proxies
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Are Full Rollouts Necessary for On-Policy Distillation?
Announce Type: new Abstract: On-policy distillation (OPD) provides dense teacher feedback along rollouts generated by the student and has emerged as a promising post-training paradigm for long-horizon reasoning. However, standard OPD typically generates full rollouts during training, which is computationally expensive and may expose the student to unreliable teacher feedback at late rollout positions, especially during early training. We identify the rollout horizon as a key bottleneck in...
Are Full Rollouts Necessary for On-Policy Distillation?
arXiv:2605.31490v2 Announce Type: replace Abstract: On-policy distillation (OPD) provides dense teacher feedback along student-generated rollouts rather than fixed teacher traces and has emerged as a promising post-training paradigm. However, standard OPD typically generates full rollouts during training, which is computationally expensive and may expose the student to unreliable teacher feedback at late rollout positions, especially during early training. We identify the rollout horizon as...
BigDipper: Sharded Censorship Resistant Data Availability for Leader-Based BFT
arXiv:2307.10185v4 Announce Type: replace Abstract: Leader-based Byzantine-fault-tolerant (BFT) protocols provide low latency and simple communication structure, but they give the leader short-term control over transaction inclusion. A malicious leader can keep the protocol live while delaying or excluding time-sensitive transactions such as auction bids, oracle updates, liquidations, and bridge messages. Existing responses often build a fixed censorship-resistance, hiding, or ordering...