Author

Knut Graichen

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Aug 2026

Nonlinear, distributed, and stochastic model predictive control with GRAMPC-(D/S)

GRAMPC-D provides a modular framework for distributed NMPC of networked systems integrating both optimization and communication, while GRAMPC-S facilitates stochastic NMPC for uncertain systems through different uncertainty propagation methods.

A. Völz, Thore Wietzke, Maximilian Pierer von Esch et al. · at - Automatisierungstechnik · 0 citations

Preprint Aug 2026

Inference-Time Attention Steering for Vision-Language-Action Driving Models

A bounded additive pre-softmax attention bias on the visual tokens of detector localized traffic actors on Alpamayo-R1's Qwen3-VL backbone is studied, suggesting the bias governs where the model looks rather than encoding a target behavior.

D. Prasad, Lars Ullrich, Knut Graichen · 1 citation