publications

publications by categories in reversed chronological order. generated by jekyll-scholar.

2025

  1. multisafe_overview.png
    What You Don’t Know Can Hurt You: How Well do Latent Safety Filters Understand Partially Observable Safety Constraints?
    Matthew Kim, Kensuke Nakamura, and Andrea Bajcsy
    arXiv preprint arXiv:2510.06492, 2025
    arXiv
  2. anysafe_overview.png
    AnySafe: Adapting Latent Safety Filters at Runtime via Safety Constraint Parameterization in the Latent Space
    Sankalp Agrawal, Junwon Seo, Kensuke Nakamura, and 2 more authors
    2025
    arXiv
  3. UNISafe_preview.gif
    Uncertainty-aware Latent Safety Filters for Avoiding Out-of-Distribution Failures
    Junwon Seo, Kensuke Nakamura, and Andrea Bajcsy
    2025
    arXiv
  4. RSS
    frontfig_latentsafety3.png
    Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis
    Kensuke Nakamura, Lasse Peters, and Andrea Bajcsy
    In Robotics: Science and Systems, 2025
    arXiv

2024

  1. CoRL
    qualitative-regret.png
    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
    framework_v2.png
    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.png
    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_cond.png
    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
    confidence.gif
    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.png
    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