Kensuke Nakamura
I am a Ph.D. student at the Carnegie Mellon University Robotics Institute where I am advised by Prof. Andrea Bajcsy. My research focuses on safety for human-robot interaction. In particular, I’m interested maintaining rigorous guarantees drawn from control theory while reducing overconservativness by allowing robots to learn at runtime. I am fortunate to be supported by the NSF Graduate Research Fellowship.
Previously, I graduated from Princeton University where I was advised by Jaime Fernández Fisac and Naomi Ehrich Leonard. I’ve also had the pleasure of collaborating with Somil Bansal.
E-mail / Google Scholar / Github / Twitter
news
Sep 5, 2024 | Our paper which derives a generalized regret metric to automatically extract system-level trajectory prediction failures was just accepted to the 2024 Conference on Robot Learning! |
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Jul 19, 2024 | Deception Game won the Best Presentation Award at the RSS ‘24 Safe Autonomy workshop! |
Apr 4, 2024 | I was awarded the NSF GRFP! |
Mar 7, 2024 | I submitted my first paper as PhD student at CMU! We derived a new regret metric that automatically identifies prediction errors that induced system-level failures during deployment. Finetuning with only this high-regret data leads to large system-level performance improvements despite only using a small fraction of the total deployment data. |
Aug 30, 2023 | Our paper on adaptive safety guarantees that are aware of the robot’s learning dynamics has been accepted to the 2023 Conference on Robot Learning! |
selected publications
2024
- Not All Errors Are Made Equal: A Regret Metric for Detecting System-level Trajectory Prediction FailuresIn 8th Annual Conference on Robot Learning, 2024
2023
- Deception Game: Closing the Safety-Learning Loop in Interactive Robot AutonomyIn 7th Annual Conference on Robot Learning, 2023
- Emergent Coordination through Game-Induced Nonlinear Opinion DynamicsIn 2023 62nd IEEE Conference on Decision and Control (CDC), 2023
- Online Update of Safety Assurances Using Confidence-Based PredictionsIn 2023 International Conference on Robotics and Automation (ICRA), 2023