Tootfinder

Learning Robust Agile Flight Control with Stability Guarantees
Lukas Pries, Markus Ryll
https://arxiv.org/abs/2510.12611 https://arxiv.org/pdf/2510.12611…

Learning Robust Agile Flight Control with Stability Guarantees
In the evolving landscape of high-speed agile quadrotor flight, achieving precise trajectory tracking at the platform's operational limits is paramount. Controllers must handle actuator constraints, exhibit robustness to disturbances, and remain computationally efficient for safety-critical applications. In this work, we present a novel neural-augmented feedback controller for agile flight control. The controller addresses individual limitations of existing state-of-the-art control paradigms an…

ISAAC: Intelligent, Scalable, Agile, and Accelerated CPU Verification via LLM-aided FPGA Parallelism
Jialin Sun, Yuchen Hu, Dean You, Yushu Du, Hui Wang, Xinwei Fang, Weiwei Shan, Nan Guan, Zhe Jiang
https://arxiv.org/abs/2510.10225

ISAAC: Intelligent, Scalable, Agile, and Accelerated CPU Verification via LLM-aided FPGA Parallelism
Functional verification is a critical bottleneck in integrated circuit development, with CPU verification being especially time-intensive and labour-consuming. Industrial practice relies on differential testing for CPU verification, yet faces bottlenecks at nearly each stage of the framework pipeline: front-end stimulus generation lacks micro-architectural awareness, yielding low-quality and redundant tests that impede coverage closure and miss corner cases. Meanwhile, back-end simulation infra…

Münchner Robotik-Unternehmen Agile Robots zeigt seinen ersten humanoiden Roboter
Das Münchner Robotik-Unternehmen Agile Robots will bereits ab Anfang 2026 seinen ersten humanoiden Roboter in Bayern produzieren.

from my link log —
Agile and the long crisis of software.
https://logicmag.io/clouds/agile-and-the-long-crisis-of-software/
saved 2022-05-09

Agile and the Long Crisis of Software
What is Agile? And where does it come from?

Agile arbeiten, Enterprise Social Networks, Chat im Unternehmen: Technologie kam, Potential wurde erkannt, erste Leuchtturm-Projekte entstanden – und dann? Dann trafen diese Innovationen auf etwas viel Mächtigeres als rationale Argumente: auf unsere Identität, unsere Rolle, unser Verständnis von Kontrolle und Sicherheit. – @…

The product triad is obsolete. The ideal software development team actually has four members:
#tech #agile #softwaredevelopment

Wireless Datasets for Aerial Networks
Amir Hossein Fahim Raouf, Donggu Lee, Mushfiqur Rahman, Saad Masrur, Gautham Reddy, Cole Dickerson, Md Sharif Hossen, Sergio Vargas Villar, An{\i}l G\"urses, Simran Singh, Sung Joon Maeng, Martins Ezuma, Christopher Roberts, Mohamed Rabeek Sarbudeen, Thomas J. Zajkowski, Magreth Mushi, Ozgur Ozdemir, Ram Asokan, Ismail Guvenc, Mihail L. Sichitiu, Rudra Dutta

Wireless Datasets for Aerial Networks
The integration of unmanned aerial vehicles (UAVs) into 5G-Advanced and future 6G networks presents a transformative opportunity for wireless connectivity, enabling agile deployment and improved LoS communications. However, the effective design and optimization of these aerial networks depend critically on high-quality, empirical data. This paper provides a comprehensive survey of publicly available wireless datasets collected from an airborne platform called Aerial Experimentation and Research…

Agile Tradespace Exploration for Space Rendezvous Mission Design via Transformers
Yuji Takubo, Daniele Gammelli, Marco Pavone, Simone D'Amico
https://arxiv.org/abs/2510.03544

Agile Tradespace Exploration for Space Rendezvous Mission Design via Transformers
Spacecraft rendezvous enables on-orbit servicing, debris removal, and crewed docking, forming the foundation for a scalable space economy. Designing such missions requires rapid exploration of the tradespace between control cost and flight time across multiple candidate targets. However, multi-objective optimization in this setting is challenging, as the underlying constraints are often highly nonconvex, and mission designers must balance accuracy (e.g., solving the full problem) with efficienc…

Yes, of course we’re Agile. We have Jira!
Oh no sorry, sprints are enforced at 2 week length per corporate policy.
What’s that? No sorry, teams can’t modify task fields, you’d need to ask a Jira admin, but they don’t like to change things.
Swimlanes? Oh dear no, that’s the Jira admin as well. You see it’s important we have a strictly uniform implementation of our Agile workflow across the org.
(And they don’t even hear the irony themselves…)

An LLM-based multi-agent framework for agile effort estimation
Thanh-Long Bui, Hoa Khanh Dam, Rashina Hoda
https://arxiv.org/abs/2509.14483 https://arxiv.o…

An LLM-based multi-agent framework for agile effort estimation
Effort estimation is a crucial activity in agile software development, where teams collaboratively review, discuss, and estimate the effort required to complete user stories in a product backlog. Current practices in agile effort estimation heavily rely on subjective assessments, leading to inaccuracies and inconsistencies in the estimates. While recent machine learning-based methods show promising accuracy, they cannot explain or justify their estimates and lack the capability to interact with…

Whole Body Model Predictive Control for Spin-Aware Quadrupedal Table Tennis
David Nguyen, Zulfiqar Zaidi, Kevin Karol, Jessica Hodgins, Zhaoming Xie
https://arxiv.org/abs/2510.08754

Whole Body Model Predictive Control for Spin-Aware Quadrupedal Table Tennis
Developing table tennis robots that mirror human speed, accuracy, and ability to predict and respond to the full range of ball spins remains a significant challenge for legged robots. To demonstrate these capabilities we present a system to play dynamic table tennis for quadrupedal robots that integrates high speed perception, trajectory prediction, and agile control. Our system uses external cameras for high-speed ball localization, physical models with learned residuals to infer spin and pred…

Agile manoeuvring of dandelion-inspired micro-flyers with vortex-enabled stability
Jianfeng Yang, Soumarup Bhattacharyya, Aditya Potnis, Hao Zeng, Ignazio Maria Viola
https://arxiv.org/abs/2510.04720

Agile manoeuvring of dandelion-inspired micro-flyers with vortex-enabled stability
Manoeuvring untethered, centimetre-scale airborne structures has been a long-standing challenge. Active flight systems, relying on high-power-density actuators alongside mechanical and electronic components, are constrained by critical limitations in energy delivery and miniaturisation. In contrast, passive systems transported and distributed by the wind typically lack the capability for mid-air controlled manoeuvrability. Here we report an ultra-light (1.2 mg) hexagonal polymeric assembly capa…

»Wenn ich noch nicht so genau weiß, wo's hin geht, dann mach' ich das Projekt halt agil. Erstmal ohne Ziel los ziehen und dann sieht man ja, wo's hin geht.« 🤦 #projektmanagement #agile

"OOP grew dramatically during the decade between 1985 and 95. The first OOPSLA Conf was held in '86, chaired by Daniel Ingalls of Smalltalk fame. Bjarne Stroustrup released the first versions of C . Brad Cox melted Smalltalk on top of C and created Objective-C. Bertrand Meyer released both Eiffel and his bestseller book. Borland added OOP support to Turbo Pascal 5.5. Famous groups like “The Three Amigos,” “The Gang of Four,” and the Agile movement coalesced around OOP."
…

The Hype Cycle Of OOP
Even though Marketing buzzwords might have an effect akin to Kryptonite against our readers, we're going to use the famous Gartner's Five-Step Hype Cycle to take a closer look at the practice of Object-Oriented Programming (OOP) and its various ups and downs in the past 50 years. Remembering that one of the core tenets of this magazine is to make the impossible dialogue possible, the framework provided by Gartner fits this task perfectly well.

Crosslisted article(s) found for cs.SI. https://arxiv.org/list/cs.SI/new
[1/1]:
- Why Does the Engineering Manager Still Exist in Agile Software Development?
Ravi Kalluri

Beyond Redundancy: Toward Agile Resilience in Optical Networks to Overcome Unpredictable Disasters
Toru Mano, Hideki Nishizawa, Takeo Sasai, Soichiroh Usui, Dmitrii Briantcev, Devika Dass, Brandt Bashaw, Eoin Kenny, Marco Ruffini, Yoshiaki Sone, Koichi Takasugi, Daniel Kilper
https://arxiv.org/abs/2509.24038

Beyond Redundancy: Toward Agile Resilience in Optical Networks to Overcome Unpredictable Disasters
Resilience in optical networks has traditionally relied on redundancy and pre-planned recovery strategies, both of which assume a certain level of disaster predictability. However, recent environmental changes such as climate shifts, the evolution of communication services, and rising geopolitical risks have increased the unpredictability of disasters, reducing the effectiveness of conventional resilience approaches. To address this unpredictability, this paper introduces the concept of agile r…

A novel agile THz Pulsed Spectropolarimeter measuring 2D distributions of the magnetic field, density and ion temperature of fusion reactor equilibria
Roger J Smith
https://arxiv.org/abs/2509.16159

A novel agile THz Pulsed Spectropolarimeter measuring 2D distributions of the magnetic field, density and ion temperature of fusion reactor equilibria
With the recent inception of intense pulsed THz sources via optical rectification using crystalline lithium niobate, non-perturbative measurements of the internal local magnetic field are now possible using Pulsed Polarimetry on any magnetic fusion device. Pulsed Polarimetry resolves the sightline magnetic field and density, analogous to RADAR measurements of the spatial distribution of precipitation. With a suitable sightline, the FRC midplane density and axial field profiles can be determined…

AERO-MPPI: Anchor-Guided Ensemble Trajectory Optimization for Agile Mapless Drone Navigation
Xin Chen, Rui Huang, Longbin Tang, Lin Zhao
https://arxiv.org/abs/2509.17340 https:/…

AERO-MPPI: Anchor-Guided Ensemble Trajectory Optimization for Agile Mapless Drone Navigation
Agile mapless navigation in cluttered 3D environments poses significant challenges for autonomous drones. Conventional mapping-planning-control pipelines incur high computational cost and propagate estimation errors. We present AERO-MPPI, a fully GPU-accelerated framework that unifies perception and planning through an anchor-guided ensemble of Model Predictive Path Integral (MPPI) optimizers. Specifically, we design a multi-resolution LiDAR point-cloud representation that rapidly extracts spat…

Oracle-Guided Masked Contrastive Reinforcement Learning for Visuomotor Policies
Yuhang Zhang, Jiaping Xiao, Chao Yan, Mir Feroskhan
https://arxiv.org/abs/2510.05692 https://

Oracle-Guided Masked Contrastive Reinforcement Learning for Visuomotor Policies
A prevailing approach for learning visuomotor policies is to employ reinforcement learning to map high-dimensional visual observations directly to action commands. However, the combination of high-dimensional visual inputs and agile maneuver outputs leads to long-standing challenges, including low sample efficiency and significant sim-to-real gaps. To address these issues, we propose Oracle-Guided Masked Contrastive Reinforcement Learning (OMC-RL), a novel framework designed to improve the samp…

Reverse Engineering User Stories from Code using Large Language Models
Mohamed Ouf, Haoyu Li, Michael Zhang, Mariam Guizani
https://arxiv.org/abs/2509.19587 https://

Reverse Engineering User Stories from Code using Large Language Models
User stories are essential in agile development, yet often missing or outdated in legacy and poorly documented systems. We investigate whether large language models (LLMs) can automatically recover user stories directly from source code and how prompt design impacts output quality. Using 1,750 annotated C++ snippets of varying complexity, we evaluate five state-of-the-art LLMs across six prompting strategies. Results show that all models achieve, on average, an F1 score of 0.8 for code up to 20…

Agile in the Face of Delay: Asynchronous End-to-End Learning for Real-World Aerial Navigation
Yude Li, Zhexuan Zhou, Huizhe Li, Youmin Gong, Jie Mei
https://arxiv.org/abs/2509.13816

Agile in the Face of Delay: Asynchronous End-to-End Learning for Real-World Aerial Navigation
Robust autonomous navigation for Autonomous Aerial Vehicles (AAVs) in complex environments is a critical capability. However, modern end-to-end navigation faces a key challenge: the high-frequency control loop needed for agile flight conflicts with low-frequency perception streams, which are limited by sensor update rates and significant computational cost. This mismatch forces conventional synchronous models into undesirably low control rates. To resolve this, we propose an asynchronous reinfo…

Developer Productivity With and Without GitHub Copilot: A Longitudinal Mixed-Methods Case Study
Viktoria Stray, Elias Goldmann Brandtz{\ae}g, Viggo Tellefsen Wivestad, Astri Barbala, Nils Brede Moe
https://arxiv.org/abs/2509.20353

Developer Productivity With and Without GitHub Copilot: A Longitudinal Mixed-Methods Case Study
This study investigates the real-world impact of the generative AI (GenAI) tool GitHub Copilot on developer activity and perceived productivity. We conducted a mixed-methods case study in NAV IT, a large public sector agile organization. We analyzed 26,317 unique non-merge commits from 703 of NAV IT's GitHub repositories over a two-year period, focusing on commit-based activity metrics from 25 Copilot users and 14 non-users. The analysis was complemented by survey responses on their roles and p…

Rethinking Reference Trajectories in Agile Drone Racing: A Unified Reference-Free Model-Based Controller via MPPI
Fangguo Zhao, Xin Guan, Shuo Li
https://arxiv.org/abs/2509.14726

Rethinking Reference Trajectories in Agile Drone Racing: A Unified Reference-Free Model-Based Controller via MPPI
While model-based controllers have demonstrated remarkable performance in autonomous drone racing, their performance is often constrained by the reliance on pre-computed reference trajectories. Conventional approaches, such as trajectory tracking, demand a dynamically feasible, full-state reference, whereas contouring control relaxes this requirement to a geometric path but still necessitates a reference. Recent advancements in reinforcement learning (RL) have revealed that many model-based con…

Very High Frequency Interpolation for Direct Torque Control
Rafael Kourdis, Maciej St\k{e}pie\'n, J\'er\^ome Manhes, Nicolas Mansard, Steve Tonneau, Philippe Sou\`eres, Thomas Flayols
https://arxiv.org/abs/2509.24175

Very High Frequency Interpolation for Direct Torque Control
Torque control enables agile and robust robot motion, but deployment is often hindered by instability and hardware limits. Here, we present a novel solution to execute whole-body linear feedback at up to 40 kHz on open-source hardware. We use this to interpolate non-linear schemes during real-world execution, such as inverse dynamics and learned torque policies. Our results show that by stabilizing torque controllers, high-frequency linear feedback could be an effective route towards unlocking …

Evaluating Classical Software Process Models as Coordination Mechanisms for LLM-Based Software Generation
Duc Minh Ha, Phu Trac Kien, Tho Quan, Anh Nguyen-Duc
https://arxiv.org/abs/2509.13942

Evaluating Classical Software Process Models as Coordination Mechanisms for LLM-Based Software Generation
[Background] Large Language Model (LLM)-based multi-agent systems (MAS) are transforming software development by enabling autonomous collaboration. Classical software processes such asWaterfall, V-Model, and Agile offer structured coordination patterns that can be repurposed to guide these agent interactions. [Aims] This study explores how traditional software development processes can be adapted as coordination scaffolds for LLM based MAS and examines their impact on code quality, cost, and pr…

Learning Multi-Skill Legged Locomotion Using Conditional Adversarial Motion Priors
Ning Huang, Zhentao Xie, Qinchuan Li
https://arxiv.org/abs/2509.21810 https://

Learning Multi-Skill Legged Locomotion Using Conditional Adversarial Motion Priors
Despite growing interest in developing legged robots that emulate biological locomotion for agile navigation of complex environments, acquiring a diverse repertoire of skills remains a fundamental challenge in robotics. Existing methods can learn motion behaviors from expert data, but they often fail to acquire multiple locomotion skills through a single policy and lack smooth skill transitions. We propose a multi-skill learning framework based on Conditional Adversarial Motion Priors (CAMP), w…

Real-Time Planning and Control with a Vortex Particle Model for Fixed-Wing UAVs in Unsteady Flows
Ashwin Gupta, Kevin Wolfe, Gino Perrotta, Joseph Moore
https://arxiv.org/abs/2509.16079

Real-Time Planning and Control with a Vortex Particle Model for Fixed-Wing UAVs in Unsteady Flows
Unsteady aerodynamic effects can have a profound impact on aerial vehicle flight performance, especially during agile maneuvers and in complex aerodynamic environments. In this paper, we present a real-time planning and control approach capable of reasoning about unsteady aerodynamics. Our approach relies on a lightweight vortex particle model, parallelized to allow GPU acceleration, and a sampling-based policy optimization strategy capable of leveraging the vortex particle model for predictive…