6 papers · 1 filter
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…
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…
Informed Hybrid Zonotope-based Motion Planning Algorithm
Peng Xie, Johannes Betz, Amr Alanwar
Optimal path planning in nonconvex free spaces poses substantial computational challenges. A common approach formulates such problems as mixed-integer linear programs (MILPs); howe…