CUPID: Curating Data your Robot Loves with Influence Functions
Christopher Agia, Rohan Sinha, Jingyun Yang, Rika Antonova, Marco Pavone, Haruki Nishimura, Masha Itkina, Jeannette Bohg
Conference on Robot Learning (CoRL), September 2025
Publications
You can also find my articles on Google Scholar or Researchmap.
Is Your Imitation Learning Policy Better than Mine? Policy Comparison with Near-Optimal Stopping
David Snyder, Asher Hancock, Apurva Badithela, Emma Dixon, Patrick Miller, Rares Ambrus, Anirudha Majumdar, Masha Itkina, Haruki Nishimura
Robotics: Science and Systems (RSS), June 2025
Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning Policies
Chen Xu, Tony Khuong Nguyen, Emma Dixon, Christopher Rodriguez, Patrick Miller, Robert Lee, Paarth Shah, Rares Andrei Ambrus, Haruki Nishimura, Masha Itkina
Robotics: Science and Systems (RSS), June 2025
How Generalizable is My Behavior Cloning Policy? A Statistical Approach to Trustworthy Performance Evaluation
Joseph A. Vincent, Haruki Nishimura, Masha Itkina, Paarth Shah, Mac Schwager, Thomas Kollar
IEEE Robotics and Automation Letters (RA-L), August 2024
Residual Q-Learning: Offline and Online Policy Customization without Value
Chenran Li*, Chen Tang*, Haruki Nishimura, Jean Mercat, Masayoshi Tomizuka, Wei Zhan
Thirty-seventh Conference on Neural Information Processing Systems (NeurIPS), December 2023
Featured in Nikkei Robotics.
In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution States
Fernando Castañeda, Haruki Nishimura, Rowan McAllister, Koushil Sreenath, Adrien Gaidon
5th Annual Learning for Dynamics & Control Conference (L4DC), June 2023
Best Paper Award winner.
RAP: Risk-Aware Prediction for Robust Planning
Haruki Nishimura*, Jean Mercat*, Blake Wulfe, Rowan McAllister, Adrien Gaidon
2022 Conference on Robot Learning (CoRL), December 2022
Accepted for an oral presentation. (Acceptance rate: 6.5%.)
Online Trajectory Planning Algorithms for Robotic Systems under Uncertainty in Interactive Environments
Haruki Nishimura
Ph.D. Dissertation, Stanford University, August 2021
SACBP: Belief Space Planning for Continuous-Time Dynamical Systems via Stochastic Sequential Action Control
Haruki Nishimura, Mac Schwager
The International Journal of Robotics Research (IJRR), August 2021
RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch
Haruki Nishimura, Negar Mehr, Adrien Gaidon, Mac Schwager
IEEE Robotics and Automation Letters (RA-L), January 2021
Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction
Haruki Nishimura, Boris Ivanovic, Adrien Gaidon, Marco Pavone, Mac Schwager
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2020
Featured in TechXplore.
SACBP: Belief Space Planning for Continuous-Time Dynamical Systems via Stochastic Sequential Action Control
Haruki Nishimura, Mac Schwager
The 13th International Workshop on Algorithmic Foundations of Robotics (WAFR), December 2018
Invited to special issue.
Active Motion-Based Communication for Robots with Monocular Vision
Haruki Nishimura, Mac Schwager
2018 IEEE International Conference on Robotics and Automation (ICRA), May 2018