Luis Pabon

Paul Leonard Wolff, Hugo Buurmeijer, Luis Pabon et al. · eth-zurich, mit

Continuum robots exhibit high-dimensional, nonlinear dynamics which are often coupled with their actuation mechanism. Spectral submanifold (SSM) reduction has emerged as a leading method for reducing high-dimensional nonlinear dynamical systems to low-dimensional invariant manifolds. Our proposed control-augmented SSMs (caSSMs) extend this methodology by explicitly incorporating control inputs into the state representation, enabling these models to capture nonlinear state-input couplings. Training these models relies solely on controlled decay trajectories of the actuator-augmented state, thereby removing the additional actuation-calibration step commonly needed by prior SSM-for-control methods. We learn a compact caSSM model for a tendon-driven trunk robot, enabling real-time control and reducing open-loop prediction error by 40% compared to existing methods. In closed-loop experiments with model predictive control (MPC), caSSM reduces tracking error by 52%, demonstrating improved performance against Koopman and SSM based MPC and practical deployability on hardware continuum robots.

Carson Stark, Bohkyung Chun, Casey Charleston et al.

This work introduces a robotics platform which embeds a conversational AI agent in an embodied system for natural language understanding and intelligent decision-making for service tasks; integrating task planning and human-like conversation. The agent is derived from a large language model, which has learned from a vast corpus of general knowledge. In addition to generating dialogue, this agent can interface with the physical world by invoking commands on the robot; seamlessly merging communication and behavior. This system is demonstrated in a free-form tour-guide scenario, in an HRI study combining robots with and without conversational AI capabilities. Performance is measured along five dimensions: overall effectiveness, exploration abilities, scrutinization abilities, receptiveness to personification, and adaptability.

Bodun Hu, Luis Pabon, Saurabh Agarwal et al.

Retrieval Augmented Generation (RAG) has emerged as a new paradigm for enhancing Large Language Model reliability through integration with external knowledge sources. However, efficient deployment of these systems presents significant technical challenges due to their inherently heterogeneous computational pipelines comprising LLMs, databases, and specialized processing components. We introduce Patchwork, a comprehensive end-to-end RAG serving framework designed to address these efficiency bottlenecks. Patchwork's architecture offers three key innovations: First, it provides a flexible specification interface enabling users to implement custom RAG pipelines. Secondly, it deploys these pipelines as distributed inference systems while optimizing for the unique scalability characteristics of individual RAG components. Third, Patchwork incorporates an online scheduling mechanism that continuously monitors request load and execution progress, dynamically minimizing SLO violations through strategic request prioritization and resource auto-scaling. Our experimental evaluation across four distinct RAG implementations demonstrates that Patchwork delivers substantial performance improvements over commercial alternatives, achieving throughput gains exceeding 48% while simultaneously reducing SLO violations by ~24%.