Semi-related: I read the first page of your second reference and really can't make any sense of it, despite having what I would have thought to be enough knowle

Semi-related: I read the first page of your second reference and really can't make any sense of it, despite having what I would have thought to be enough knowledge to at least orient: "We aim to construct a physically-grounded compositional framework for hybrid system synthesis, particularly targeted at applications in robotics. Compositionality lies at the heart of language in general [WHM12] and its formalization underlies much of computer science in particular [Lee90]. However the behavioral modularization of physical synthesis for digital computing that arguably ushered in the information technology revolution [MC80] has proven much harder to achieve in analog computing technology [Mea89]. There are fundamental reasons for this challenge to become more severe in machines intended to perform mechanical work on their environments [Whi96]." Since you know enough about this field to cite it, does it appear to you that this stuff could be written in a more comprehensible way, without losing expressive power? Or is this level of ornament necessary to say whatever it's saying?