Tootfinder

NaviGait: Navigating Dynamically Feasible Gait Libraries using Deep Reinforcement Learning
Neil C. Janwani, Varun Madabushi, Maegan Tucker
https://arxiv.org/abs/2510.11542 https…

NaviGait: Navigating Dynamically Feasible Gait Libraries using Deep Reinforcement Learning
Reinforcement learning (RL) has emerged as a powerful method to learn robust control policies for bipedal locomotion. Yet, it can be difficult to tune desired robot behaviors due to unintuitive and complex reward design. In comparison, offline trajectory optimization methods, like Hybrid Zero Dynamics, offer more tuneable, interpretable, and mathematically grounded motion plans for high-dimensional legged systems. However, these methods often remain brittle to real-world disturbances like exter…

Distributionally Robust System Level Synthesis With Output Feedback Affine Control Policy
Yun Li, Jicheng Shi, Colin N. Jones, Neil Yorke-Smith, Tamas Keviczky
https://arxiv.org/abs/2508.05466

Distributionally Robust System Level Synthesis With Output Feedback Affine Control Policy
This paper studies the finite-horizon robust optimal control of linear systems subject to model mismatch and additive stochastic disturbances. Utilizing the system level synthesis (SLS) parameterization, we propose a novel SLS design using output-feedback affine control policy and extend it to a distributionally robust setting to improve system resilience by minimizing the cost function while ensuring constraint satisfaction against the worst-case uncertainty distribution. The scopes of model m…

🇺🇦 #NowPlaying on KEXP's #VarietyMix
Neil Young:
🎵 Computer Age
#NeilYoung
https://channelsurfingenviron.bandcamp.com/track/computer-age-5-25-neil-young-trans-rock-0-we-r-in-control
https://open.spotify.com/track/60sFWx5iElbfma36qpQdBl

Cryptographic Data Exchange for Nuclear Warheads
Neil Perry, Daniil Zhukov
https://arxiv.org/abs/2507.20074 https://arxiv.org/pdf/2507.20074

Cryptographic Data Exchange for Nuclear Warheads
Nuclear arms control treaties have historically focused on strategic nuclear delivery systems, leaving nuclear warheads outside formal verification frameworks. This paper presents a cryptographic protocol for secure and verifiable warhead tracking, addressing challenges in nuclear warhead verification without requiring intrusive physical inspections. Our system leverages commitment schemes and zero-knowledge succinct non-interactive arguments of knowledge (zkSNARKs) to ensure compliance with tr…

Universal dynamics and microwave control of programmable cavity electro-optic frequency combs
Yunxiang Song, Tianqi Lei, Yanyun Xue, Andrea Cordaro, Michael Haas, Guanhao Huang, Xudong Li, Shengyuan Lu, Leticia Magalhaes, Jiayu Yang, Matthew Yeh, Xinrui Zhu, Neil Sinclair, Qihuang Gong, Yaowen Hu, Marko Loncar
https://arxiv.org/abs/2507.21…

Universal dynamics and microwave control of programmable cavity electro-optic frequency combs
Electro-optic (EO) frequency combs are foundational for metrology and spectroscopy. Specifically, microresonator-based cavity EO combs are distinguished by efficient sideband generation, precisely controlled by microwave signals, enabling high-performance integrated frequency references and pulse sources. However, the apparent simplicity of these devices, often described by the EO modulation-induced coupling of nearest-neighbor cavity modes, has limited investigations of their fundamental physi…

Electronic structure of the interface between Au and WSe2
Laxman Nagireddy, Samuel J. Magorrian, Matthew D. Watson, Yogal Prasad Ghimirey, Marc Walker, Cephise Cacho, Neil R. Wilson, Nicholas D. M. Hine
https://arxiv.org/abs/2508.15600

Electronic structure of the interface between Au and WSe2
Understanding the interface between metals and two-dimensional materials is critical for their application in electronics and for the development of metal-mediated exfoliation of large area monolayers. Studying the intricate interactions at the interface requires model systems that enable control of the roughness, purity, and crystallinity of the metal surface. Here, we investigate the layer-dependent electronic structure of WSe_2 on template-stripped gold substrates fabricated using both silic…

Spectral-temporal processing using integrated recursive electro-optic circuit
Xudong Li, Yaowen Hu, Tong Ge, Andrea Cordaro, Yunxiang Song, Xinrui Zhu, Shengyuan Lu, Keith Powell, Let\'icia Magalh\~aes, Urban Senica, Neil Sinclair, Marko Lon\v{c}ar
https://arxiv.org/abs/2509.25102

Spectral-temporal processing using integrated recursive electro-optic circuit
Advances in integrated photonics have enabled unprecedented level of control of light, powering a wide range of photonic technologies from communications and computing to precision metrology and quantum information. However, the conventional on-chip optical signal processing approaches based on optical waveguides and cavities suffer from their large physical footprint and narrow operating bandwidth, respectively. To address this, we propose and experimentally demonstrate, using the thin film li…