Author

Zhuo-Cheng Zhang

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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