Search: “mpc”

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ASTRIL-MPC: Autonomous Traversal Framework of Articulated Tracked Robots with Language-Guided Neural-Kinematic MPC

ASTRIL-MPC combines learned kinematics, NMPC, and LLM-guided safety-checked retuning for articulated tracked robot traversal in search-and-rescue.

ASTRIL-MPC is a language-guided neural-kinematic model predictive control framework for autonomous traversal of articulated tracked robots in urban search and rescue. A learned kinematics model predicts short-horizon task-state increments, NMPC plans with feasibility constraints, and an LLM proposes bounded, safety-checked updates to weights and bounds. The compiled predictor enables a full control cycle within 100 ms, improving traversal-quality scores by up to 71% over non-adaptive NMPC and 67% over a PPO baseline while eliminating measurable collision impacts.

arXiv cs.AI / cs.LG / cs.CLSep 11, 17:17 UTC · 5d agoAI research

OptiPrime: Optimizing Private Inference through Protocol-Hardware Co-design

OptiPrime co-designs HE-MPC protocols with hardware acceleration to remove network communication bottlenecks in private DNN inference, beating Cheetah by up to 5.7x.

OptiPrime is a protocol-hardware co-optimization framework for private deep neural network inference based on hybrid homomorphic encryption (HE) and multi-party computation (MPC). It introduces a novel HE protocol for convolutions that reduces the number of transmitted output ciphertexts, addressing the network bottleneck that limits gains from commercial HE accelerators. A lightweight compression system reduces weight plaintext memory traffic by 10x, while a specialized dataflow maximizes on-chip reuse of intermediate ciphertexts. Experiments show up to 5.7x speedup over the Cheetah baseline on CPUs and 4.2x with an accelerator.

arXiv cs.CRSep 15, 09:29 UTC · 1d agoResearch

Large Language Models for HVAC Operations in Building Energy Systems: A Critical Review of Methods, Applications, and Deployment Readiness

Systematic review of 66 studies finds LLMs for HVAC operations are mostly research-stage, with no ready-now deployment and only four pilot-level studies.

A critical review of 66 peer-reviewed studies from 2023 to March 2026 examines LLMs for HVAC operations in building energy systems. Only four studies reach pilot-level evidence, none reports sustained operational deployment, and 63 of 66 are research-only. Conventional ML, MPC, and RL remain dominant for high-frequency control and short-horizon forecasting, and the evidence supports LLMs primarily as semantic and workflow layers rather than autonomous controllers.

arXiv cs.AI / cs.LG / cs.CLSep 4, 16:08 UTC · 12d agoAI research