Yorie Nakahira · Publications

Preprints and papers under review

Preprint2026

Physics-Informed Reinforcement Learning for Stochastic Reach-Avoid Analysis

H. Hoshino and Y. Nakahira

arXiv preprint

arXiv

Preprint2026

Online Safety Filter for Deformable Object Manipulation with Horizon-Agnostic Neural Operators

J. Li, H. Hu, Z. Wang, Y. Nakahira, and C. Liu

arXiv preprint

arXiv

Preprint2026

Fractional Risk Analysis of Stochastic Systems with Jumps and Memory

Y. Sun, Z. Wang, X. Zhang, H. Ping, J. Xue, P. Bogdan, and Y. Nakahira

arXiv preprint

arXiv

Preprint2026

OpInf-LLM: Parametric PDE Solving with LLMs via Operator Inference

Z. Wang, H. Hu, X. Deng, S. Mowlavi, and Y. Nakahira

arXiv preprint

arXiv

Preprint2026

UAVGENT: A Language-Guided Distributed Control Framework

Z. Zhang, X. Deng, G. Qu, and Y. Nakahira

arXiv preprint

arXiv

Preprint2025

Safe Driving in Occluded Environments

Z. Wang, T. Jia, P. Rajborirug, N. Ramesh, H. Okuda, T. Suzuki, S. Kar, and Y. Nakahira

arXiv preprint

arXiv

Preprint2025

Multi-Level Multi-Fidelity Methods for Path Integral and Safe Control

Z. Wang, T. Tanaka, Y. Chen, and Y. Nakahira

arXiv preprint

arXiv

Preprint2025

Predictive Control and Regret Analysis of Non-Stationary MDP with Look-Ahead Information

Z. Zhang, Y. Nakahira, and G. Qu

Under review, Transactions on Machine Learning Research

arXiv

Preprint2024

Sample-Optimal Zero-Violation Safety for Continuous Control

R. Ray, Y. Nakahira, and S. Kar

arXiv preprint

arXiv

Accepted / in press

Journal2025

Probabilistic Safety Certificate for Multi-Agent Safe Control and Learning

H. Jing and Y. Nakahira

IEEE Transactions on Control of Network Systems (accepted)

Journal2025

Myopically Verifiable Probabilistic Certificates for Safe Control and Learning

Z. Wang^*, H. Jing^*, C. Kurniawan, A. Chern, and Y. Nakahira

IEEE Transactions on Automatic Control (accepted)

* Equal contribution

arXiv

Journal2025

Generalizable Physics-Informed Learning for Stochastic Safety-Critical Systems

Z. Wang, A. Chern, and Y. Nakahira

IEEE Transactions on Automatic Control (accepted)

arXiv

Journal2025

Rate-Cost Tradeoffs in Continuous-Time Control with a Biomolecular Application

Y. Nakahira, F. Xiao, V. Kostina, and J. C. Doyle

IEEE Transactions on Automatic Control (accepted)

arXiv

2026

Conference

Training-Free Guided Diffusion for Planning: A Unified Framework via Doob's h-Transform with Safety Guarantees

K. Hoshino, Y. S. Aluru, X. Deng, and Y. Nakahira

International Conference on Machine Learning (ICML), 2026

Conference

Polynomial Convergence of Riemannian Diffusion Models

X. Xu, Z. Zhang, Y. Nakahira, G. Qu, and Y. Chi

International Conference on Learning Representations (ICLR), 2026

arXiv

Conference

Context-Aware LLM-Based Safe Control Against Latent Risks

X. Deng, Q. K. Luu, A. V. Ho, and Y. Nakahira

American Control Conference (ACC), 2026

arXiv

Conference

Online Adaptive Probabilistic Safety Certificate with Language Guidance

Z. Wang, H. Hoshino, X. Deng, and Y. Nakahira

Learning for Dynamics and Control Conference (L4DC), 2026

arXiv

2025

Conference

Neural Spline Operators for Risk Quantification in Stochastic Systems

Z. Wang, R. Romagnoli, K. Azizzadenesheli, and Y. Nakahira

IEEE Conference on Decision and Control (CDC), 2025

arXiv

Conference

Kalman Bayesian Transformer

H. Jing, O. Wright, J. M. F. Moura, and Y. Nakahira

IEEE Conference on Decision and Control (CDC), 2025

arXiv

Journal

Physics-Informed Deep B-Spline Networks for Dynamical Systems

Z. Wang, R. Romagnoli, J. Ratchford, and Y. Nakahira

Journal of Machine Learning Research (JMLR), accepted, 2025

arXiv

Conference

Stabilizing Linear Systems under Partial Observability: Sample Complexity and Fundamental Limits

Z. Zhang, Y. Nakahira, and G. Qu

Conference on Neural Information Processing Systems (NeurIPS), 2025

arXiv OpenReview

Conference

Safety Certificate Against Latent Variables with Partially Unidentifiable Dynamics

H. Jing and Y. Nakahira

International Conference on Machine Learning (ICML), 2025

arXiv

Conference

Sample Complexity of Stabilizing LTI Systems on a Single Trajectory under Stochastic Noise

Z. Zhang, Y. Nakahira, and G. Qu

Conference on Uncertainty in Artificial Intelligence (UAI), 2025

arXiv

Conference

Fast Bandit-Based Policy Adaptation in Diverse Environments

Z. Zhang, G. Qu, and Y. Nakahira

American Control Conference (ACC), pp. 2458–2464, 2025

SSRN

Journal

Diversity Deconstrains Component Limitations in Sensorimotor Control

Y. Nakahira^*, Q. Liu^*, X. Deng, T. Sejnowski, and J. C. Doyle

Neural Computation, vol. 37, no. 10, pp. 1783–1806, 2025

* Equal contribution

arXiv

2024

Conference

Physics-Informed Representation and Learning: Control and Risk Quantification

Z. Wang, R. Keller, X. Deng, K. Hoshino, T. Tanaka, and Y. Nakahira

AAAI Conference on Artificial Intelligence, vol. 38, no. 19, pp. 21699–21707, 2024

arXiv Code

Conference

An Analytic Solution to Covariance Propagation in Neural Networks

O. Wright, Y. Nakahira, and J. M. F. Moura

International Conference on Artificial Intelligence and Statistics (AISTATS), pp. 4087–4095, 2024

arXiv Code

Conference

Towards Proactive Safe Human-Robot Collaborations via Data-Efficient Conditional Behavior Prediction

R. Pandya, Z. Wang, Y. Nakahira, and C. Liu

IEEE International Conference on Robotics and Automation (ICRA), pp. 12956–12963, 2024

arXiv Video

Conference

Physics-Informed RL for Maximal Safety Probability Estimation

H. Hoshino and Y. Nakahira

American Control Conference (ACC), pp. 3576–3583, 2024

arXiv

Conference

Autonomous Drifting Based on Maximal Safety Probability Learning

H. Hoshino, J. Li, A. Menon, J. M. Dolan, and Y. Nakahira

IEEE International Conference on Intelligent Transportation Systems (ITSC), pp. 3930–3935, 2024

arXiv

2023

Conference

Optimizing HVAC Systems for Energy Efficiency and Control: A Scalable and Robust Multi-Zone Control Approach with Uncertainty Considerations

R. Xiong, H. Jing, M. Li, Y. Shi, T. Miki, T. Hatanaka, Y. Nakahira, and P. Tang

ASCE International Conference on Computing in Civil Engineering (i3CE), 2023

Journal

Calibrating Subjective Data Biases and Model Predictive Uncertainties in Machine Learning-Based Thermal Perception Predictions

R. Xiong, Y. Shi, H. Jing, W. Liang, Y. Nakahira, and P. Tang

Building and Environment, vol. 247, 111105, 2023

Conference

An Occlusion- and Interaction-Aware Safe Control Strategy for Autonomous Vehicles

S. Gangadhar^*, Z. Wang^*, K. Poku, N. Yamada, K. Honda, Y. Nakahira, H. Okuda, and T. Suzuki

IFAC World Congress, 2023

* Equal contribution

PDF Video

Conference

A Learning and Control Perspective for Microfinance

C. Kurniawan, X. Deng, A. Chakraborty, A. Gueye, N. Chen, and Y. Nakahira

Learning for Dynamics and Control Conference (L4DC), PMLR vol. 211, pp. 915–927, 2023

arXiv

Conference

A Generalizable Physics-Informed Learning Framework for Risk Probability Estimation

Z. Wang and Y. Nakahira

Learning for Dynamics and Control Conference (L4DC), PMLR vol. 211, pp. 358–370, 2023

arXiv Code

Conference

Rethinking Safe Control in the Presence of Self-Seeking Humans

Z. Zhang^*, M. Al-Sunni^*, H. Jing^*, H. Shirado, and Y. Nakahira

AAAI Conference on Artificial Intelligence, vol. 37, no. 12, pp. 15331–15339, 2023

* Equal contribution

arXiv

Journal

Scalable Long-Term Safety Certificate for Large-Scale Systems

K. Hoshino, Z. Wang, and Y. Nakahira

IEEE Control Systems Letters, vol. 7, pp. 1285–1290, 2023

IEEE Xplore

Journal

Generalized Exact Scheduling: A Minimal-Variance Distributed Deadline Scheduler

Y. Nakahira, A. Ferragut, and A. Wierman

Operations Research, vol. 71, no. 2, pp. 433–470, 2023

arXiv

Journal

Research Challenges for Energy-Efficient Computing in Automated Vehicles

R. P. Dick, R. Aitken, J. Mogill, J. P. Strachan, K. Bresniker, W. Lu, Y. Nakahira, Z. Li, M. J. Marinella, W. Severa, and A. A. Talin

Computer, vol. 56, no. 3, pp. 47–58, 2023

2022

Conference

Probabilistic Safety Certificate for Multi-Agent Systems

H. Jing and Y. Nakahira

IEEE Conference on Decision and Control (CDC), pp. 5343–5350, 2022

Conference

Myopically Verifiable Probabilistic Certificate for Long-Term Safety

Z. Wang^*, H. Jing^*, C. Kurniawan, A. Chern, and Y. Nakahira

American Control Conference (ACC), pp. 4894–4900, 2022

* Equal contribution

arXiv IEEE Xplore Code

Conference

Adaptive Safe Control for Driving in Uncertain Environments

S. Gangadhar, Z. Wang, H. Jing, and Y. Nakahira

IEEE Intelligent Vehicles Symposium (IV), pp. 1662–1668, 2022

IEEE Xplore

2021

Journal

Smoothed Least-Laxity-First Algorithm for Electric Vehicle Charging: Online Decision and Performance Analysis with Resource Augmentation

N. Chen, C. Kurniawan, Y. Nakahira, L. Chen, and S. H. Low

IEEE Transactions on Smart Grid, vol. 13, no. 3, pp. 2209–2217, 2021

arXiv

Journal

Diversity-Enabled Sweet Spots in Layered Architectures and Speed–Accuracy Trade-Offs in Sensorimotor Control

Y. Nakahira, Q. Liu, T. Sejnowski, and J. C. Doyle

Proceedings of the National Academy of Sciences, vol. 118, no. 22, 2021

arXiv

Conference

Safe Control in the Presence of Stochastic Uncertainties

A. Chern, X. Wang, A. Iyer, and Y. Nakahira

IEEE Conference on Decision and Control (CDC), pp. 6640–6645, 2021

arXiv

Conference

Axon Arbor Trade-Off Between Wiring Cost, Delay, and Synchronization in Neuronal Networks

Q. Liu, C. Kurniawan, C. Xu, S. Jagtap, X. Deng, K. Lou, Y. S. Soh, and Y. Nakahira

Annual Conference on Information Sciences and Systems (CISS), pp. 1–6, 2021

2020

Journal

An Integrative Perspective to LQ and L∞ Control for Delayed and Quantized Systems

Y. Nakahira and L. Chen

IEEE Transactions on Automatic Control, vol. 65, no. 11, pp. 4781–4792, 2020

2019

Conference

Theoretical Foundations for Layered Architectures and Speed–Accuracy Tradeoffs in Sensorimotor Control

Y. Nakahira, Q. Liu, N. Bernat, T. Sejnowski, and J. C. Doyle

American Control Conference (ACC), pp. 809–814, 2019

Conference

Experimental and Educational Platforms for Studying Architecture and Tradeoffs in Human Sensorimotor Control

Q. Liu, Y. Nakahira, A. Mohideen, A. Dai, S. Choi, A. Pan, D. M. Ho, and J. C. Doyle

American Control Conference (ACC), pp. 483–488, 2019

arXiv

2018

Conference

Minimal-Variance Distributed Deadline Scheduling in a Stationary Environment

Y. Nakahira, A. Ferragut, and A. Wierman

International Symposium on Computer Performance, Modeling, Measurements and Evaluation (Performance); ACM SIGMETRICS Performance Evaluation Review, vol. 46, no. 3, pp. 56–61, 2018

Conference

Fundamental Limits and Achievable Performance in Biomolecular Control

Y. Nakahira, F. Xiao, V. Kostina, and J. C. Doyle

American Control Conference (ACC), pp. 2707–2714, 2018

2017

Conference

Smoothed Least-Laxity-First Algorithm for EV Charging

Y. Nakahira, N. Chen, L. Chen, and S. H. Low

ACM International Conference on Future Energy Systems (e-Energy), pp. 242–251, 2017

Journal

Attack-Resilient H2, H∞, and ℓ1 State Estimator

Y. Nakahira and Y. Mo

IEEE Transactions on Automatic Control, vol. 63, no. 12, pp. 4353–4360, 2017

arXiv

Other

Electric Vehicle Charging: A Queueing Approach

A. Aveklouris, Y. Nakahira, M. Vlasiou, and B. Zwart

Workshop on Mathematical Performance Modeling and Analysis (MAMA); ACM SIGMETRICS Performance Evaluation Review, vol. 45, no. 2, pp. 33–35, 2017

arXiv

Conference

Algorithms for Optimal Control with Fixed-Rate Feedback

A. Khina, Y. Nakahira, Y. Su, and B. Hassibi

IEEE Conference on Decision and Control (CDC), pp. 6015–6020, 2017

arXiv

2016

Conference

LQ vs. ℓ∞ in Controller Design for Systems with Delay and Quantization

Y. Nakahira

IEEE Conference on Decision and Control (CDC), pp. 2382–2389, 2016

Conference

Teaching Control Theory in High School

J. C. Doyle, Y. Nakahira, Y. P. Leong, E. Jenson, A. Dai, D. Ho, and N. Matni

IEEE Conference on Decision and Control (CDC), pp. 5925–5949, 2016

Conference

On Identification of Parameterized Switched Linear Systems

Y. Yuan, Y. Nakahira, and C. J. Tomlin

Chinese Control Conference (CCC), pp. 2189–2195, 2016

2015

Conference

Hard Limits on Robust Control over Delayed and Quantized Communication Channels with Applications to Sensorimotor Control

Y. Nakahira, N. Matni, and J. C. Doyle

IEEE Conference on Decision and Control (CDC), pp. 7522–7529, 2015

Conference

Dynamic State Estimation in the Presence of Compromised Sensory Data

Y. Nakahira and Y. Mo

IEEE Conference on Decision and Control (CDC), pp. 5808–5813, 2015

Conference

A Linear Programming Framework for Networked Control System Design

Y. Nakahira and S. You

IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys); IFAC-PapersOnLine, vol. 48, no. 22, pp. 34–39, 2015

2012

Conference

Computational Model for Probability Prediction of Scan Paths in Static Scenes

Y. Nakahira and M. Nakayama

International Conference on Computer Vision Theory and Applications (VISAPP), vol. 1, pp. 427–430, 2012

Conference

Feasibility of Computational Estimation of Task-Oriented Visual Attention

Y. Nakahira and M. Nakayama

Australasian User Interface Conference (AUIC), vol. 126, pp. 93–94, 2012

2011

Conference

Medical Application on Internet of Things

W. Zhao, C. Wang, and Y. Nakahira

IET International Conference on Communication Technology and Application (ICCTA), pp. 660–665, 2011

Other

Inter-Code Interference Noise of Acoustic Imaging via Simultaneous Transmission of M-Series Signals

Y. Nakahira, R. Fukushima, and H. Hachiya

Proceedings of the Spring Meeting of the Acoustical Society of Japan, pp. 1389–1390, 2011

Publications

Preprints and papers under review

Physics-Informed Reinforcement Learning for Stochastic Reach-Avoid Analysis

Online Safety Filter for Deformable Object Manipulation with Horizon-Agnostic Neural Operators

Fractional Risk Analysis of Stochastic Systems with Jumps and Memory

OpInf-LLM: Parametric PDE Solving with LLMs via Operator Inference

UAVGENT: A Language-Guided Distributed Control Framework

Safe Driving in Occluded Environments

Multi-Level Multi-Fidelity Methods for Path Integral and Safe Control

Predictive Control and Regret Analysis of Non-Stationary MDP with Look-Ahead Information

Sample-Optimal Zero-Violation Safety for Continuous Control

Accepted / in press

Probabilistic Safety Certificate for Multi-Agent Safe Control and Learning

Myopically Verifiable Probabilistic Certificates for Safe Control and Learning

Generalizable Physics-Informed Learning for Stochastic Safety-Critical Systems

Rate-Cost Tradeoffs in Continuous-Time Control with a Biomolecular Application

2026

Training-Free Guided Diffusion for Planning: A Unified Framework via Doob's h-Transform with Safety Guarantees

Polynomial Convergence of Riemannian Diffusion Models

Context-Aware LLM-Based Safe Control Against Latent Risks

Online Adaptive Probabilistic Safety Certificate with Language Guidance

2025

Neural Spline Operators for Risk Quantification in Stochastic Systems

Kalman Bayesian Transformer

Physics-Informed Deep B-Spline Networks for Dynamical Systems

Stabilizing Linear Systems under Partial Observability: Sample Complexity and Fundamental Limits

Safety Certificate Against Latent Variables with Partially Unidentifiable Dynamics

Sample Complexity of Stabilizing LTI Systems on a Single Trajectory under Stochastic Noise

Fast Bandit-Based Policy Adaptation in Diverse Environments

Diversity Deconstrains Component Limitations in Sensorimotor Control

2024

Orthogonal Modal Representation in Long-Term Risk Quantification for Dynamic Multi-Agent Systems

Physics-Informed Representation and Learning: Control and Risk Quantification

An Analytic Solution to Covariance Propagation in Neural Networks

Towards Proactive Safe Human-Robot Collaborations via Data-Efficient Conditional Behavior Prediction

Physics-Informed RL for Maximal Safety Probability Estimation

Autonomous Drifting Based on Maximal Safety Probability Learning

2023

Optimizing HVAC Systems for Energy Efficiency and Control: A Scalable and Robust Multi-Zone Control Approach with Uncertainty Considerations

Calibrating Subjective Data Biases and Model Predictive Uncertainties in Machine Learning-Based Thermal Perception Predictions

An Occlusion- and Interaction-Aware Safe Control Strategy for Autonomous Vehicles

A Learning and Control Perspective for Microfinance

A Generalizable Physics-Informed Learning Framework for Risk Probability Estimation

Rethinking Safe Control in the Presence of Self-Seeking Humans

Scalable Long-Term Safety Certificate for Large-Scale Systems

Generalized Exact Scheduling: A Minimal-Variance Distributed Deadline Scheduler

Research Challenges for Energy-Efficient Computing in Automated Vehicles

2022

Probabilistic Safety Certificate for Multi-Agent Systems

Myopically Verifiable Probabilistic Certificate for Long-Term Safety

Adaptive Safe Control for Driving in Uncertain Environments

2021

Smoothed Least-Laxity-First Algorithm for Electric Vehicle Charging: Online Decision and Performance Analysis with Resource Augmentation

Diversity-Enabled Sweet Spots in Layered Architectures and Speed–Accuracy Trade-Offs in Sensorimotor Control

Safe Control in the Presence of Stochastic Uncertainties

Axon Arbor Trade-Off Between Wiring Cost, Delay, and Synchronization in Neuronal Networks

2020

An Integrative Perspective to LQ and L∞ Control for Delayed and Quantized Systems

2019

Theoretical Foundations for Layered Architectures and Speed–Accuracy Tradeoffs in Sensorimotor Control

Experimental and Educational Platforms for Studying Architecture and Tradeoffs in Human Sensorimotor Control

2018

Minimal-Variance Distributed Deadline Scheduling in a Stationary Environment

Fundamental Limits and Achievable Performance in Biomolecular Control

2017

Smoothed Least-Laxity-First Algorithm for EV Charging

Attack-Resilient H2, H∞, and ℓ1 State Estimator

Electric Vehicle Charging: A Queueing Approach

Algorithms for Optimal Control with Fixed-Rate Feedback

2016

LQ vs. ℓ∞ in Controller Design for Systems with Delay and Quantization

Teaching Control Theory in High School

On Identification of Parameterized Switched Linear Systems

2015

Hard Limits on Robust Control over Delayed and Quantized Communication Channels with Applications to Sensorimotor Control

Dynamic State Estimation in the Presence of Compromised Sensory Data

A Linear Programming Framework for Networked Control System Design

2012

Computational Model for Probability Prediction of Scan Paths in Static Scenes

Feasibility of Computational Estimation of Task-Oriented Visual Attention