publications

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

2026

  1. ICRA
    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
    In IEEE International Conference on Robotics and Automation (ICRA), 2026
    arXiv

2025

  1. L4DC
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    How to Train Your Latent Control Barrier Function: Smooth Safety Filtering Under Hard-to-Model Constraints
    Kensuke Nakamura, Arun L. Bishop, Steven Man, and 3 more authors
    arXiv preprint arXiv:2511.18606, 2025
    arXiv
  2. 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
  3. CoRL
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    Uncertainty-aware Latent Safety Filters for Avoiding Out-of-Distribution Failures
    Junwon Seo, Kensuke Nakamura, and Andrea Bajcsy
    In Conference on Robot Learning, 2025
    arXiv
  4. RSS
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    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
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    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
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    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
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    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
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    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
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    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
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    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