Author

Yan-Liang Huang

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Preprint Aug 2026

Certifying Plans under Model Mismatch: A Trilemma for Reachability from Scarce Data

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

Preprint Aug 2026

Probabilistic Reachable-Action Verification of Visuomotor Policies via Set-Based Training

This work freezes the visual encoder and confine set propagation to a low-dimensional interface between it and the downstream policy, with the interface set calibrated from held-out camera-pose perturbations to achieve reachability analysis for visuomotor policies.

Yan-Liang Huang, Zhuo-Cheng Zhang, Peng Xie et al. · 0 citations

Preprint Aug 2026

CompCPZ: Preserving Multi-Modal Intent in Language-Guided Robot Manipulation

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