A Corpus-based Toy Model for DisCoCat

The categorical compositional distributional (DisCoCat) model of meaning rigorously connects distributional semantics and pregroup grammars, and has found a variety of applications in computational linguistics. From a more abstract standpoint, the DisCoCat paradigm predicates the construction of a mapping from syntax to categorical semantics. In this work we present a concrete construction of one such mapping, from a toy model of syntax for corpora annotated with constituent structure trees, to categorical semantics taking place in a category of free R-semimodules over an involutive commutative semiring R.Comment: In Proceedings SLPCS 2016, arXiv:1608.0101

Ungar \unicode{x2013} A C++ Framework for Real-Time Optimal Control Using Template Metaprogramming

We present Ungar, an open-source library to aid the implementation of high-dimensional optimal control problems (OCPs). We adopt modern template metaprogramming techniques to enable the compile-time modeling of complex systems while retaining maximum runtime efficiency. Our framework provides syntactic sugar to allow for expressive formulations of a rich set of structured dynamical systems. While the core modules depend only on the header-only Eigen and Boost.Hana libraries, we bundle our codebase with optional packages and custom wrappers for automatic differentiation, code generation, and nonlinear programming. Finally, we demonstrate the versatility of Ungar in various model predictive control applications, namely, four-legged locomotion and collaborative loco-manipulation with multiple one-armed quadruped robots. Ungar is available under the Apache License 2.0 at https://github.com/fdevinc/ungar.Comment: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 7 pages, 2 figures. Library available at https://github.com/fdevinc/ungar. Presentation available at https://www.youtube.com/watch?v=iKQ6felf45