From the 1 of 36 linked papers with an AI index.
6 papers · 1 filter
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
The paper introduces GNN-DIP, a method that uses a graph neural network to score portals in a cell adjacency graph, guiding corridor selection for decomposition-based motion planni…
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…
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…
Safe LLM-Controlled Robots with Formal Guarantees via Reachability Analysis
Ahmad Hafez, Alireza Naderi Akhormeh, Amr Hegazy +1
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot…