LEMCA: LLM-Guided Synthesis of Efficient Mode-Switching Control Architectures

arXiv:2609.21319 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Comments: CoRL 2026. Project website: https://lemca-robotics.github.io/

Code: https://github.com/ax-ml/jax

Project page: https://lemca-robotics.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Actor — 15× in this paper · explained in 3 episodes
• Reinforcement Learning — 11× in this paper · explained in 4 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 4× in this paper · explained in 2 episodes
• IEEE Conference on Decision and Control — 4× in this paper
• Trace — 4× in this paper · explained in 2 episodes
• Finite State Machine — 3× in this paper
• Reward Function — 3× in this paper · explained in 2 episodes
• Abstraction — 2× in this paper · explained in 1 episode
• Action Space — 2× in this paper · explained in 1 episode
• Model Predictive Path Integral — 2× in this paper
• Quantization — 2× in this paper · explained in 12 episodes
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Task Decomposition — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Affordance — 1× in this paper · explained in 1 episode
• Agentic Loop — 1× in this paper · explained in 1 episode
• Bayesian Optimization — 1× in this paper · explained in 3 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Hierarchical Framework — 1× in this paper · explained in 2 episodes
• Hybrid Architectures — 1× in this paper · explained in 3 episodes
• International Conference on Automation Science and Engineering — 1× in this paper
• Iterative Refinement — 1× in this paper · explained in 3 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Markov Decision Process — 1× in this paper
• Markov Decision Process (MDP) — 1× in this paper · explained in 11 episodes
• Model Predictive Path Integral (MPPI) — 1× in this paper · explained in 3 episodes
• Programmatic Specification of Mode-Switching Controllers — 1× in this paper
• Steering — 1× in this paper · explained in 2 episodes
• Temporal Abstraction — 1× in this paper · explained in 2 episodes

Sources

• Asymmetric Actor Critic for Image-Based Robot Learning
• Proximal Policy Optimization Algorithms
• AlphaEvolve: A coding agent for scientific and algorithmic discovery
• ShinkaEvolve: Towards Open-Ended And Sample-Efficient Program Evolution
• Eureka: Human-Level Reward Design via Coding Large Language Models
• Model Predictive Path Integral Control using Covariance Variable Importance Sampling
• Touch begins where vision ends: Generalizable policies for contact-rich manipulation
• Privileged Sensing Scaffolds Reinforcement Learning
• Behavior-Consistent Deep Reinforcement Learning
• Mastering Diverse Domains through World Models
• High-Dimensional Continuous Control Using Generalized Advantage Estimation
• A Mathematical Theory of Co-Design

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