publications

2025

1. 

   Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis

   Kensuke Nakamura, Lasse Peters, and Andrea Bajcsy

   2025

   arXiv

2024

1. CoRL

   

   Not All Errors Are Made Equal: A Regret Metric for Detecting System-level Trajectory Prediction Failures

   Kensuke Nakamura, Ran Tian, and Andrea Bajcsy

   In 8th Annual Conference on Robot Learning, 2024

   arXiv

2023

1. CoRL

   

   Deception Game: Closing the Safety-Learning Loop in Interactive Robot Autonomy

   Haimin Hu, Zixu Zhang, Kensuke Nakamura, and 2 more authors

   In 7th Annual Conference on Robot Learning, 2023

   arXiv
2. CDC

   

   Emergent Coordination through Game-Induced Nonlinear Opinion Dynamics

   Haimin Hu, Kensuke Nakamura, Kai-Chieh Hsu, and 2 more authors

   In 2023 62nd IEEE Conference on Decision and Control (CDC), 2023

   arXiv
3. ICRA

   

   Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online

   Javier Borquez, Kensuke Nakamura, and Somil Bansal

   In 2023 International Conference on Robotics and Automation (ICRA), 2023

   arXiv
4. ICRA

   

   Online Update of Safety Assurances Using Confidence-Based Predictions

   Kensuke Nakamura, and Somil Bansal

   In 2023 International Conference on Robotics and Automation (ICRA), 2023

   arXiv

2022

1. IROS

   Decentralized Learning With Limited Communications for Multi-robot Coverage of Unknown Spatial Fields

   Kensuke Nakamura, María Santos, and Naomi Ehrich Leonard

   In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

   DOI arXiv
2. RA-L

   

   SHARP: Shielding-Aware Robust Planning for Safe and Efficient Human-Robot Interaction

   Haimin Hu, Kensuke Nakamura, and Jaime F. Fisac

   IEEE Robotics and Automation Letters, 2022

   DOI arXiv