Researcher profile

Udaya Ghai

Udaya Ghai contributes to research discovery and scholarly infrastructure.

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Trust 21 - EmergingVerification L1Unclaimed author
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Published work

6 published item(s)

preprint2026arXiv

The Bicameral Model: Bidirectional Hidden-State Coupling Between Parallel Language Models

Existing multi-model and tool-augmented systems communicate by generating text, serializing every exchange through the output vocabulary. Can two pretrained language models instead coordinate through a continuous, concurrent channel? The Bicameral Model couples two frozen language models through a trainable neural interface on their intermediate hidden states. At every generation step, both models run in lockstep: a primary model drives the task while an auxiliary model operates tools, solves constraints, or executes code, with both conditioning on each other's activations through a translation network and a learned suppression gate ($\sim$1\% of combined parameters). The gate learns a selective communication protocol from task loss alone, without a prescribed format. We demonstrate the mechanism across three tool backends. On arithmetic, coupling two 0.5B models with a calculator raises accuracy from 36\% to 96\%. On logic grid puzzles, coupling two 0.6B models with a Z3 solver achieves $1.7\times$ the unaugmented baseline on ZebraLogic. On mathematical reasoning, coupling with a Python sandbox enables the auxiliary to generate problem-specific code from hidden-state signals alone, without ever seeing the problem text.

preprint2022arXiv

A Regret Minimization Approach to Multi-Agent Control

We study the problem of multi-agent control of a dynamical system with known dynamics and adversarial disturbances. Our study focuses on optimal control without centralized precomputed policies, but rather with adaptive control policies for the different agents that are only equipped with a stabilizing controller. We give a reduction from any (standard) regret minimizing control method to a distributed algorithm. The reduction guarantees that the resulting distributed algorithm has low regret relative to the optimal precomputed joint policy. Our methodology involves generalizing online convex optimization to a multi-agent setting and applying recent tools from nonstochastic control derived for a single agent. We empirically evaluate our method on a model of an overactuated aircraft. We show that the distributed method is robust to failure and to adversarial perturbations in the dynamics.

preprint2022arXiv

Generating Adversarial Disturbances for Controller Verification

We consider the problem of generating maximally adversarial disturbances for a given controller assuming only blackbox access to it. We propose an online learning approach to this problem that \emph{adaptively} generates disturbances based on control inputs chosen by the controller. The goal of the disturbance generator is to minimize \emph{regret} versus a benchmark disturbance-generating policy class, i.e., to maximize the cost incurred by the controller as well as possible compared to the best possible disturbance generator \emph{in hindsight} (chosen from a benchmark policy class). In the setting where the dynamics are linear and the costs are quadratic, we formulate our problem as an online trust region (OTR) problem with memory and present a new online learning algorithm (\emph{MOTR}) for this problem. We prove that this method competes with the best disturbance generator in hindsight (chosen from a rich class of benchmark policies that includes linear-dynamical disturbance generating policies). We demonstrate our approach on two simulated examples: (i) synthetically generated linear systems, and (ii) generating wind disturbances for the popular PX4 controller in the AirSim simulator. On these examples, we demonstrate that our approach outperforms several baseline approaches, including $H_{\infty}$ disturbance generation and gradient-based methods.

preprint2022arXiv

Machine Learning for Mechanical Ventilation Control

We consider the problem of controlling an invasive mechanical ventilator for pressure-controlled ventilation: a controller must let air in and out of a sedated patient's lungs according to a trajectory of airway pressures specified by a clinician. Hand-tuned PID controllers and similar variants have comprised the industry standard for decades, yet can behave poorly by over- or under-shooting their target or oscillating rapidly. We consider a data-driven machine learning approach: First, we train a simulator based on data we collect from an artificial lung. Then, we train deep neural network controllers on these simulators.We show that our controllers are able to track target pressure waveforms significantly better than PID controllers. We further show that a learned controller generalizes across lungs with varying characteristics much more readily than PID controllers do.

preprint2022arXiv

Robust Online Control with Model Misspecification

We study online control of an unknown nonlinear dynamical system that is approximated by a time-invariant linear system with model misspecification. Our study focuses on robustness, a measure of how much deviation from the assumed linear approximation can be tolerated by a controller while maintaining finite $\ell_2$-gain. A basic methodology to analyze robustness is via the small gain theorem. However, as an implication of recent lower bounds on adaptive control, this method can only yield robustness that is exponentially small in the dimension of the system and its parametric uncertainty. The work of Cusumano and Poolla shows that much better robustness can be obtained, but the control algorithm is inefficient, taking exponential time in the worst case. In this paper we investigate whether there exists an efficient algorithm with provable robustness beyond the small gain theorem. We demonstrate that for a fully actuated system, this is indeed attainable. We give an efficient controller that can tolerate robustness that is polynomial in the dimension and independent of the parametric uncertainty; furthermore, the controller obtains an $\ell_2$-gain whose dimension dependence is near optimal.

preprint2021arXiv

Deluca -- A Differentiable Control Library: Environments, Methods, and Benchmarking

We present an open-source library of natively differentiable physics and robotics environments, accompanied by gradient-based control methods and a benchmark-ing suite. The introduced environments allow auto-differentiation through the simulation dynamics, and thereby permit fast training of controllers. The library features several popular environments, including classical control settings from OpenAI Gym. We also provide a novel differentiable environment, based on deep neural networks, that simulates medical ventilation. We give several use-cases of new scientific results obtained using the library. This includes a medical ventilator simulator and controller, an adaptive control method for time-varying linear dynamical systems, and new gradient-based methods for control of linear dynamical systems with adversarial perturbations.