Author

Chandan Kumar Sah

Beihang University

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Preprint Sep 2026

Exact Feasibility Certification and Optimal Responsibility Allocation for Multi-Robot CBF Safety Filters

Multi-robot Control Barrier Function (CBF) safety filters can become infeasible, but a failed quadratic program (QP) does not indicate why the conflict occurred or how to resolve it. To address this, we develop an exact feasibility certificate for multi-agent CBF filters with heterogeneous control-affine dynamics and c...

Chandan Kumar Sah, J. Keshavan · 0 citations

Jul 2026

Beyond "What to Retrieve": Uncertainty in Retrieval-Augmented Code Generation

OpenCoder is introduced, an uncertainty-aware framework that estimates source-specific uncertainty, uses it to filter and rank heterogeneous evidence, and guides generation, verification, and repair of repository-level code generation, verification, and repair.

Chandan Kumar Sah, Li Zhang, Xiaoli Lian · arXiv.org · 1 citation

Jul 2026

Beyond Self-Knowledge: Propagating Uncertainty Across Reasoning and Retrieval in LLMs

BeyondUncertainty first elicits a structured provisional answer and confidence estimate, then applies a model-specific threshold selected on held-out validation data and frozen before test evaluation, revealing a trade-off between more selective evidence acquisition and end-to-end token efficiency.

Chandan Kumar Sah, Xiaoli Lian, Li Zhang · arXiv.org · 0 citations