Author

Yi-Qi Zhao

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Preprint Aug 2026

Safety-aware Model Predictive Path Integral Control with Signal Temporal Logic

Safety-aware motion planning remains a challenge in robotics, especially when missions are time-critical and are under complex specifications. In this paper, we propose safety-aware-stl-mppi, a computationally efficient sampling-based receding-horizon planning framework designed to promote satisfaction of constraints e...

Yi-Qi Zhao, Taekyung Kim, Hideki Okamoto et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Rolling-WAM: World Action Models with Rolling Imagination

Rolling-WAM is presented, a formulation that distributes joint denoising across successive replanning cycles and delivers a 4.5x steady-state replanning speedup over standard joint WAMs.

Ying Zhou, Jun-Jie Ye, Yi-Qi Zhao et al. · 0 citations

Preprint Aug 2026

Logic-VLA: A Temporal Logic Conditioned Vision-Language-Action Model

Logic-VLA is introduced, a formal-requirement-aware VLA that conditions on Signal Temporal Logic (STL) specifications supplied at inference time, showing that a single VLA can adapt its behavior to varying formal requirements without requiring a separate policy for each specification.

Celina Shiyu Wang, Yiqi Zhao, Junjie Ye et al. · 1 citation

#machine learning Preprint Aug 2026

A Unified Perspective on Conformal Prediction and Wasserstein Distributionally Robust Optimization for Uncertainty Quantification

A unified probabilistic perspective on CP and DRO is developed by viewing both as ways to turn finite calibration data into a data-dependent quantile estimator that a test score falls below with high probability.

Kehan Long, Yi-Qi Zhao, Pol Mestres et al. · 0 citations