The following list groups publications by topic (* denotes equal contribution). For a comprehensive list of publications and corresponding citations, visit my Google Scholar page. You can find an open source (and sometimes extended) version of all of these papers on the arXiv.
Language to Control:
Interfacing controllers with natural language
For robotics
NARRATE: Versatile Language Architecture for Optimal Control in Robotics
[Website]
[Code]
[Video]
International Conference on Intelligent Robots and Systems (IROS),
2024.
Control for Language:
Using control theory to enhance language algorithms
Controlled language generation
Linearly Controlled Language Generation with Performative Guarantees
Submitted to International Conference on Learning Representations (ICLR),
2025.
Foundation models
Lambda-Skip Connections: the architectural component that prevents Rank Collapse
Submitted to International Conference on Learning Representations (ICLR),
2025.
Understanding the differences in Foundation Models: Attention, SSMs, and RNNs
Accepted to Conference on Neural Information Processing Systems (NeurIPS),
2024.
State Space Models as Foundation Models: A Control Theoretic Overview
[Code]
Submitted to the American Control Conference (ACC),
2025.
Distributed Optimal Control
Distributed and Localized Model Predictive Control
Distributed and Localized Model Predictive Control
[Code]
[Video]
PhD Thesis,
2023.
Global performance guarantees for localized model predictive control
[Code]
[Video]
IEEE Open Journal of Control Systems,
2023.
Distributed and Localized Model Predictive Control. Part II: Theoretical Guarantees
[Code]
[Video]
IEEE Transactions on Control of Network Systems,
2023.
Best Paper Award
Distributed and Localized Model Predictive Control. Part I: Synthesis and Implementation
[Code]
[Video]
IEEE Transactions on Control of Network Systems,
2023.
Effective GPU Parallelization of Distributed and Localized Model Predictive Control
[Code]
[Video]
IEEE International Conference on Control & Automation,
2022.
Best Student Paper Award
Data-driven Distributed and Localized Model Predictive Control
[Code]
[Video]
IEEE Open Journal of Control Systems,
2022.
Frontiers in Scalable Distributed Control: SLS, MPC, and Beyond
IEEE American Control Conference (ACC),
2021.
Explicit Distributed and Localized Model Predictive Control via System Level Synthesis
[Code]
[Video]
IEEE Conference on Decision and Control (CDC),
2020.
Distributed and Localized Model Predictive Control via System Level Synthesis
[Code]
[Video]
IEEE Conference on Decision and Control (CDC),
2020.
System Level Synthesis and Applications
System Level Synthesis via Dynamic Programming
IEEE Conference on Decision and Control (CDC),
2020.
Distributed Linear Quadratic Regulator Robust to Communication Dropouts
[Video]
World Congress of the International Federation of Automatic Control,
2020.
Architecture and Trade-offs in the Heat Shock Response System
IEEE Conference on Decision and Control (CDC),
2018.