This study presents a centralized safety aware M2M framework for cooperative goal-directed navigation in a heterogeneous mobile robot system composed of a vision-capable robot and a cameraless robotic vehicle that can approve safe motion, trigger conservative replanning or holding behavior, and preserve a strict separa...
Mohamed Dwedar, Ahmad Hafez, Alexander Jesser et al.· IEEE Access· 0 citations
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 fixed control sequence, such as an action chunk produced by a learned policy. If the sequence reaches an unobserved state-input region, the obs...
Yanliang Huang, Zhen Zhang, Ahmad Hafez et al.· 0 citations
CompCPZ, a sound algebraic layer that language-conditioned learning systems wrap to recover multi-modal disjunctive representation, recursively composing per-primitive constrained polynomial zonotope enclosures along the language parse tree with distribution-free conformal coverage and sub-millisecond runtime is presen...
Zhen Zhang, Ahmad Hafez, Peng Xie et al.· 0 citations
A validity theory and audit with three components: two-sided validation of nuisance removal and response preservation, all-optima identification of downstream conclusions, and uncertainty propagation after validity is established is developed.
Zhen Zhang, Ahmad Hafez, Amr Alanwar· 0 citations
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