Author

Tianhua Liu

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Preprint Aug 2026

Calibrated Predictive Safety for Heterogeneous Robots: An Action-Conditioned JEPA Framework with Model-Based Safety Shields

Vision-language-action policies generalize broadly but provide no execution-time guarantees; classical model-based planners respect kinematic and geometric constraints but generalize poorly. We study whether an action-conditioned Joint-Embedding Predictive Architecture (JEPA) world model can predict, before execution,...

Kaiming Zhong, Tianhua Liu, Yue Wang · 0 citations

Preprint Aug 2026

An Adaptive Augmented Lagrangian Method for Deterministic and Stochastic Nonconvex Optimization

The method matches the best known worst-case complexity results for Augmented Lagrangian methods (up to logarithmic factors) when both the function and constraints are deterministic, when the function is stochastic and the constraints are deterministic, and when both are stochastic.

Tianhua Liu, M. O'Neill · 0 citations