17 papers
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…
Data-Driven Reachability Analysis Using Matrix Perturbation Theory
Peng Xie, Abdulla Fawzy, Zhen Zhang +1
We propose a matrix zonotope perturbation framework that leverages matrix perturbation theory to characterize how noise-induced distortions alter the dynamics within sets of models…
Orthogonal Transformations for Efficient Data-Driven Reachability Analysis
Peng Xie, Amr Alanwar
Data-driven reachability analysis using matrix zonotopes faces a fundamental challenge: the number of generators in the reachable set grows exponentially during propagation, while…
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…