Control & Learning Group › Publications

Publications

Accepted (to appear)

H. Jing, Y. Nakahira. "Probabilistic safety certificate for multi-agent safe control and learning." IEEE Transactions on Control of Network Systems.
Z. Wang, H. Jing, C. Kurniawan, A. Chern, Y. Nakahira. "Myopically Verifiable Probabilistic Certificates for Safe Control and Learning." IEEE Transactions on Automatic Control (TAC).
Z. Wang, A. Chern, Y. Nakahira. "Generalizable Physics-Informed Learning for Stochastic Safety-Critical Systems." IEEE Transactions on Automatic Control (TAC).

K. Hoshino, Y. S. Aluru, X. Deng, Y. Nakahira. "Training-Free Guided Diffusion for Planning: A Unified Framework via Doob's h-Transform with Safety Guarantees." International Conference on Machine Learning (ICML), 2026.
X. Xu, Z. Zhang, Y. Nakahira, G. Qu, Y. Chi. "Polynomial Convergence of Riemannian Diffusion Models." International Conference on Learning Representations (ICLR), 2026.
X. Deng, Q. K. Luu, A. V. Ho, Y. Nakahira. "Context-aware LLM-based Safe Control Against Latent Risks." American Control Conference, 2026.
Z. Wang, H. Hoshino, X. Deng, Y. Nakahira. "Online Adaptive Probabilistic Safety Certificate with Language Guidance." Learning for Dynamics and Control, 2026.

Z. Zhang, Y. Nakahira, G. Qu. "Stabilizing Linear Systems under Partial Observability: Sample Complexity and Fundamental Limits." Annual Conference on Neural Information Processing Systems (NeurIPS), 2025.
H. Jing, Y. Nakahira. "Safety certificate against latent variables with partially unidentifiable dynamics." International Conference on Machine Learning (ICML), 2025.
Z. Wang, R. Romagnoli, K. Azizzadenesheli, Y. Nakahira. "Neural spline operators for risk quantification in stochastic systems." IEEE Conference on Decision and Control, 2025.
H. Jing, O. Wright, J. M. F. Moura, Y. Nakahira. "Kalman Bayesian transformer." IEEE Conference on Decision and Control, 2025.
Z. Wang, R. Romagnoli, J. Ratchford, Y. Nakahira. "Physics-Informed Deep B-Spline Networks for Dynamical Systems." Journal of Machine Learning Research, 2025.
Z. Zhang, Y. Nakahira, G. Qu. "Sample Complexity of Stabilizing LTI Systems on a Single Trajectory under Stochastic Noise." Conference on Uncertainty in Artificial Intelligence, 2025.
Z. Zhang, G. Qu, Y. Nakahira. "Fast Bandit-based Meta RL in Diverse Environments." American Control Conference, 2025.
Y. Nakahira, Q. Liu, X. Deng, T. Sejnowski, J. Doyle. "Diversity Deconstrains Component Limitations in Sensorimotor Control." Neural Computation, 2025.

R. Yasunaga, Y. Nakahira, Y. Hori. "Orthogonal Modal Representation in Long-Term Risk Quantification for Dynamic Multi-Agent Systems." IEEE Control Systems Letters, vol. 8, pp. 3177-3182, 2024.
Z. Wang, R. Keller, X. Deng, K. Hoshino, T. Tanaka, Y. Nakahira. "Physics-informed representation and learning: control and risk quantification." AAAI Conference on Artificial Intelligence, 2024.
O. Wright, Y. Nakahira, J. M. F. Moura. "An analytic solution to covariance propagation in neural networks." International Conference on Artificial Intelligence and Statistics (AISTATS), 2024.
R. Pandya, Z. Wang, Y. Nakahira, C. Liu. "Towards proactive safe human-robot collaborations via data-efficient conditional behavior prediction." IEEE International Conference on Robotics and Automation (ICRA), pp. 12956-12963, 2024.
H. Hoshino, Y. Nakahira. "Physics-informed RL for Maximal Safety Probability Estimation." American Control Conference, pp. 3576-3583, 2024.

Y. Nakahira, A. Ferragut, A. Wierman. "Generalized exact scheduling: a minimal-variance distributed deadline scheduler." Operations Research, vol. 71, no. 2, pp. 433-470, 2023.
R. Xiong, H. Jing, M. Li, Y. Shi, T. Miki, T. Hatanaka, Y. Nakahira, P. Tang. "Optimizing HVAC systems for energy efficiency and control: a scalable and robust multi-zone control approach with uncertainty considerations." ASCE International Conference on Computing in Civil Engineering (i3CE), 2023.
S. Gangadhar*, Z. Wang*, K. Poku, N. Yamada, K. Honda, Y. Nakahira, H. Okuda, T. Suzuki. "An occlusion- and interaction-aware safe control strategy for autonomous vehicles." IFAC World Congress, 2023. (*equal contribution)
C. Kurniawan, X. Deng, A. Chakraborty, A. Gueye, N. Chen, Y. Nakahira. "A learning and control perspective for microfinance." The 5th Annual Learning for Dynamics and Control Conference, PMLR, vol. 211, pp. 915-927, 2023.
Z. Wang, Y. Nakahira. "A generalizable physics-informed learning framework for risk probability estimation." The 5th Annual Learning for Dynamics and Control Conference, PMLR, vol. 211, pp. 358-370, 2023.
Z. Zhang, M. Alsunni, H. Jing, H. Shirado, Y. Nakahira. "Rethinking safe control in the presence of self-seeking humans." AAAI Conference on Artificial Intelligence, vol. 37, no. 12, 2023.
K. Hoshino, Z. Wang, Y. Nakahira. "Scalable long-term safety certificate for large-scale systems." IEEE Control Systems Letters (L-CSS), vol. 7, pp. 1285-1290, 2023.

H. Jing, Y. Nakahira. "Probabilistic safety certificate for multi-agent systems." IEEE 61st Conference on Decision and Control, pp. 5343-5350, 2022.
Z. Wang, H. Jing, C. Kurniawan, A. Chern, Y. Nakahira. "Myopically verifiable probabilistic certificate for long-term safety." American Control Conference, pp. 4894-4900, 2022.

N. Chen, C. Kurniawan, Y. Nakahira, L. Chen, S. H. Low. "Smoothed least-laxity-first algorithm for electric vehicle charging: online decision and performance analysis with resource augmentation." IEEE Transactions on Smart Grid, vol. 13, no. 3, pp. 2209-2217, 2021.
Y. Nakahira, Q. Liu, T. Sejnowski, J. C. Doyle. "Diversity-enabled sweet spots in layered architectures and speed-accuracy trade-offs in sensorimotor control." Proceedings of the National Academy of Sciences, vol. 118, no. 22, 2021.
A. Chern, X. Wang, A. Iyer, Y. Nakahira. "Safe control in the presence of stochastic uncertainties." IEEE 60th Conference on Decision and Control, pp. 6640-6645, 2021.
Q. Liu, C. Kurniawan, C. Xu, S. Japtap, X. Deng, K. Lou, Y. S. Soh, Y. Nakahira. "Axon arbor trade-off between wiring cost, delay, and synchronization in neuronal networks." The 55th Annual Conference on Information Sciences and Systems (CISS), pp. 1-6, 2021.

Y. Nakahira, L. Chen. "An integrative perspective to LQ and L-infinity control for delayed and quantized systems." IEEE Transactions on Automatic Control, vol. 65, no. 11, pp. 4781-4792, 2020.