Author

Ahmad Hafez

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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 presented.

Zhen Zhang, Ahmad Hafez, Peng Xie et al. · 0 citations

#machine learning Preprint Aug 2026

Cross-View Correspondence Is a Measurement Intervention: Two-Sided Validation for Agent Evaluation and Credit Assignment

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