2 citations · 2 across the 16 of their papers we have counts for
16 papers
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…
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…
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…
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…
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…
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…
Transformer-Accelerated Interpolated Data-Driven Reachability Analysis from Noisy Data
Zhen Zhang, Ahmad Hafez, Peng Xie +3
Data-driven reachability analysis provides guaranteed outer approximations of reachable sets from input-state measurements, yet each propagation step requires a matrix-zonotope mul…
Certified Set Convergence for Piecewise Affine Systems via Neural Lyapunov Functions
Yanliang Huang, Peng Xie, Zhen Zhang +3
Safety-critical control of piecewise affine (PWA) systems under bounded additive disturbances requires guarantees not for individual states but for entire state sets simultaneously…
Data-Driven Reachability Analysis via Diffusion Models with PAC Guarantees
Yanliang Huang, Peng Xie, Wenyuan Wu +2
We present a data-driven framework for reachability analysis of nonlinear dynamical systems that requires no explicit model. A denoising diffusion probabilistic model learns the ti…
Conformalized Data-Driven Reachability Analysis with PAC Guarantees
Yanliang Huang, Zhen Zhang, Peng Xie +2
Data-driven reachability analysis computes over-approximations of reachable sets directly from noisy data. Existing deterministic methods require either known noise bounds or syste…
GNN-DIP: Neural Corridor Selection for Decomposition-Based Motion Planning
Peng Xie, Yanliang Huang, Wenyuan Wu +1
Motion planning through narrow passages remains a core challenge: sampling-based planners rarely place samples inside these narrow but critical regions, and even when samples land…
Results of the 2024 CommonRoad Motion Planning Competition for Autonomous Vehicles
Yanliang Huang, Xia Yan, Peiran Yin +5
Over the past decade, a wide range of motion planning approaches for autonomous vehicles has been developed to handle increasingly complex traffic scenarios. However, these approac…
Predictive Traffic Rule Compliance using Reinforcement Learning
Yanliang Huang, Sebastian Mair, Zhuoqi Zeng +1
Autonomous vehicle path planning has reached a stage where safety and regulatory compliance are crucial. This paper presents an approach that integrates a motion planner with a dee…
Path Planning based on 2D Object Bounding-box
Yanliang Huang, Liguo Zhou, Chang Liu +1
The implementation of Autonomous Driving (AD) technologies within urban environments presents significant challenges. These challenges necessitate the development of advanced perce…
YOLO-BEV: Generating Bird's-Eye View in the Same Way as 2D Object Detection
Chang Liu, Liguo Zhou, Yanliang Huang +1
Vehicle perception systems strive to achieve comprehensive and rapid visual interpretation of their surroundings for improved safety and navigation. We introduce YOLO-BEV, an effic…