17 papers
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…
DiffSlack: Learning under Nonlinear Inequality Constraints via Learnable Slack Variables
Ziqian Wang, Chenxi Fang, Zhen Zhang
Enforcing nonlinear inequality constraints in neural networks remains challenging, especially when the output is subject to many coupled constraints. Existing hard constraint metho…