63 citations · 122 across the 63 of their papers we have counts for
31 papers · 1 filter
Tracking Is Not Permanence: What Video World Models Keep of a Hidden Object
Peng Xie, Amr Alanwar
Video world models track objects they can see; we ask what they keep of objects they cannot. We hide an object from a frozen V-JEPA 2 predictor and compare its prediction for the h…
JEPA Learns What the Mask Leaves Unrecoverable
Peng Xie, Amr Alanwar
Joint-embedding predictive architectures are unusually sensitive to how the input is masked: block masks work, scattered masks do not, and the explanations are empirical. We give a…
Sampling-based Certified Planning with Graphs of Convex Sets
Peng Xie, Amr Alanwar
Planners on graphs of convex sets return trajectories that are collision-free by construction, provided the convex regions are collision-free. The region generator only promises th…
Gated Recurrent Transformers: Expressive Depth through Recurrent Modulation
Amr Hegazy, Amr Alanwar, Mostafa Elhoushi
Scaling transformer language models creates an inherent tension between expressivity and memory efficiency. While unique weights across layers preserve functional specialization---…
Margin-Drop Coordinates for Cross-Budget Robustness Evaluation
Yanliang Huang, Zhen Zhang, Peng Xie +4
Fixed-budget robustness evaluation can select the wrong frozen vision encoder. An encoder that survives a shallow attack may lose most of that robustness when the same evaluation i…
Safe Multi-Robot Coordination via VLM-LLM Reasoning and Reachability Analysis
Mohamed Dwedar, Ahmad Hafez, Alexander Jesser +1
Safe coordination in heterogeneous machine-to-machine (M2M) robotic systems is challenging when robots differ in sensing capabilities, environmental awareness, and motion execution…
CompCPZ: Preserving Multi-Modal Intent in Language-Guided Robot Manipulation
Zhen Zhang, Ahmad Hafez, Peng Xie +3
A robot asked to "place the cup near the red plate or the blue plate" may reach the centroid between them and appear geometrically successful, while satisfying neither disjunct of…
Cross-View Correspondence Is a Measurement Intervention: Two-Sided Validation for Agent Evaluation and Credit Assignment
Zhen Zhang, Ahmad Hafez, Amr Alanwar
Agent evaluations and trace-based learning often compare outputs across transformed views through a post-response correspondence treated as neutral preprocessing. We show that this…
The Cost of Conservation: Coordination-Memory Laws for Exact-Support Generation
Zhen Zhang, Amr Alanwar
Many AI systems make decisions locally, even when every realized output must obey an additive conservation law, such as selecting exactly a fixed number of items. This constraint c…
Differentiable Fuzzy Inference Layer: A Monotone, Compositional Ordinal Reasoning Head for Large Language Models
Zhen Zhang, Amr Alanwar
A state-of-the-art language model asked to interpret "most of most students passed" typically answers "most," though composing two instances of "most" yields a proportion closer to…
Certified Mechanistic Interpretability: Lifting Single-Input Findings to Bounded Neighbourhoods
Zhen Zhang, Yanliang Huang, Peng Xie +2
Mechanistic interpretability reverse-engineers transformer circuits one input at a time, leaving observed mechanisms without guarantees over bounded input neighbourhoods. We addres…
Matrix Zonotopic Attention: A Context-Adaptive Value Projection for Set Transformers
Zhen Zhang, Amr Alanwar
Multi-head attention combines an input-dependent softmax routing with an input-independent linear value projection, so the per-sample operator mapping aggregated values to outputs…
Hybrid Probabilistic Zonotopes for Identifiable and Refinable Predictive Uncertainty
Zhen Zhang, Amr Alanwar
Probabilistic prediction heads in neural networks typically output either a Gaussian mixture or a single conformal region. Neither separates the distinct sources of uncertainty oft…
Probabilistic Reachable-Action Verification of Visuomotor Policies via Set-Based Training
Yanliang Huang, Zhuocheng Zhang, Peng Xie +5
Reachability analysis for visuomotor policies is difficult because large visual encoders make end-to-end set propagation computationally expensive and excessively conservative. We…
Certifying Plans under Model Mismatch: A Trilemma for Reachability from Scarce Data
Yanliang Huang, Zhen Zhang, Ahmad Hafez +4
Sim-to-real policies are designed under nominal dynamics, but target-system trials may yield only a few isolated one-step transitions. We study pre-execution certification of a fix…
Reachability Analysis With Probabilistic Zonotopes: Learning Realized Disturbances and Refining Aleatory Uncertainty
Amir Modares, Zhen Zhang, Themistoklis Charalambous +2
This paper develops a data-driven reachability framework for linear systems whose disturbances are modeled by probabilistic zonotopes (PZs), combining bounded deterministic and Gau…
Data-Driven Reachability Analysis Using Matrix Perturbation Theory
Peng Xie, Abdulla Fawzy, Zhen Zhang +1
We propose a matrix zonotope perturbation framework that leverages matrix perturbation theory to characterize how noise-induced distortions alter the dynamics within sets of models…
Orthogonal Transformations for Efficient Data-Driven Reachability Analysis
Peng Xie, Amr Alanwar
Data-driven reachability analysis using matrix zonotopes faces a fundamental challenge: the number of generators in the reachable set grows exponentially during propagation, while…
From Points to Sets: Set-Based Safety Verification in the Latent Space
Wenyuan Wu, Peng Xie, Zhen Zhang +3
We extend latent representation methods for safety control design to set-valued states. Recent work has shown that barrier functions designed in a learned latent space can transfer…
Bridging Data-Driven Reachability Analysis and Statistical Estimation via Constrained Matrix Convex Generators
Peng Xie, Zhen Zhang, Rolf Findeisen +1
Data-driven reachability analysis enables safety verification when first-principles models are unavailable. This requires constructing sets of system models consistent with measure…
Data-Driven Reachability Analysis with Optimal Input Design
Peng Xie, Davide M. Raimondo, Rolf Findeisen +1
This paper addresses the conservatism in data-driven reachability analysis for discrete-time linear systems subject to bounded process noise, where the system matrices are unknown…
Data-Driven Nonconvex Reachability Analysis using Exact Set Propagation
Zhen Zhang, M. Umar B. Niazi, Michelle S. Chong +2
This paper studies deterministic data-driven reachability analysis for dynamical systems with unknown dynamics and nonconvex reachable sets. Existing deterministic data-driven appr…
Transformer-Enhanced Data-Driven Output Reachability with Conformal Coverage Guarantees
Zhen Zhang, Peng Xie, Wenyuan Wu +2
This paper considers output reachability analysis for linear time-invariant systems with unknown state-space matrices and unknown observation map, given only noisy input-output mea…
Data-Driven Tube-Based Zonotopic Predictive Control With Nonconvex Layered Terminal Sets
Zhen Zhang, Bogdan Gheorghe, Florin Stoican +1
This paper presents a data-driven tube-based zonotopic predictive control (DTZPC) framework with nonconvex layered terminal sets. Existing DTZPC schemes with closed-loop guarantees…