2 citations · 2 across the 16 of their papers we have counts for
7 papers · 1 filter
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…
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…
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…