I regularly publish in the following peer-reviewed journals and conference proceedings:
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- Conferences: RSS, WAFR, CoRL, ICRA, CDC, ACC
- Journals: IJRR, IEEE RA-L, IEEE TAC, ARCRAS
Here is my most recent list of publications.
Preprints
[P1] Kaiqu Liang, Haimin Hu, Ryan Liu, Thomas L. Griffiths, Jaime Fernández Fisac, “RLHS: Mitigating Misalignment in RLHF with Hindsight Simulation.” Submitted to a conference. Short version accepted to NeurIPS 2024 Safe Generative AI Workshop. [Paper]
Conference Papers
[C16] Donggeon David Oh*, Justin Lidard*, Haimin Hu, Himani Sinhmar, Elle Lazarski, Deepak Gopinath, Emily Sumner, Jonathan DeCastro, Guy Rosman, Naomi Leonard, Jaime Fernández Fisac, “Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted Motorsports.” Robotics: Science and Systems (RSS), 2025. [Paper] [Homepage]
[C15] Haimin Hu, Jaime Fernández Fisac, Naomi Leonard, Deepak Gopinath, Jonathan DeCastro, Guy Rosman, “Think Deep and Fast: Learning Neural Nonlinear Opinion Dynamics from Inverse Dynamic Games for Split-Second Interactions.” IEEE International Conference on Robotics and Automation (ICRA), 2025. [Paper] [Poster]
[C14] Justin Wang*, Haimin Hu*, Duy Phuong Nguyen, Jaime Fernández Fisac, ” Convergent Neural Synthesis of Robot Safety: Stackelberg-Minimax Adversarial RL.” Algorithmic Foundations of Robotics XVI (WAFR), 2024. [Paper] [Video]
[C13] Haimin Hu*, Gabriele Dragotto*, Zixu Zhang, Kaiqu Liang, Bartolomeo Stellato, Jaime Fernández Fisac, “Who Plays First? Optimizing the Order of Play in Stackelberg Games with Many Robots.” Robotics: Science and Systems (RSS), 2024. [Paper] [Code] [Homepage]
[C12] Justin Lidard*, Haimin Hu*, Asher Hancock, Zixu Zhang, Albert Gimó Contreras, Vikash Modi, Jonathan DeCastro, Deepak Gopinath, Guy Rosman, Naomi Leonard, María Santos, Jaime Fernández Fisac, “Blending Data-Driven Priors in Dynamic Games.” Robotics: Science and Systems (RSS), 2024. [Paper] [Code] [Homepage]
[C11] Haimin Hu*, Zixu Zhang*, Kensuke Nakamura, Andrea Bajcsy and Jaime Fernández Fisac, “Deception Game: Closing the Safety-Learning Loop in Interactive Robot Autonomy.” Conference on Robot Learning (CoRL), 2023. Also at the 2023 Symposium on Machine Learning for Autonomous Driving (ML4AD) and 2024 RSS Safe Autonomy Workshop. Best Presentation Award at 2024 RSS Safe Autonomy Workshop. [Paper] [Code] [Homepage]
[C10] Haimin Hu, Kensuke Nakamura, Kai-Chieh Hsu, Naomi E. Leonard and Jaime F. Fisac, “Emergent Coordination through Game-Induced Nonlinear Opinion Dynamics.” 62nd IEEE Conference on Decision and Control (CDC), 2023. Nominated for the Roberto Tempo Best CDC Paper Award. [Paper] [Code] [Homepage]
[C9] Haimin Hu and Jaime F. Fisac, “Active Uncertainty Reduction for Human-Robot Interaction: An Implicit Dual Control Approach.” Algorithmic Foundations of Robotics XV (WAFR), 2022. Invited extension to IJRR special issue. [Paper] [Code] [Video] [Homepage]
[C8] Lars Lindemann, Haimin Hu, Alexander Robey, Hanwen Zhang, Dimos V. Dimarogonas, Stephen Tu and Nikolai Matni, “Learning Hybrid Control Barrier Functions from Data.” Conference on Robot Learning (CoRL), 2020. [Paper] [Video] [Code]
[C7] Haimin Hu, Mahyar Fazlyab, Manfred Morari and George J. Pappas, “Reach-SDP: Reachability Analysis of Closed-Loop Systems with Neural Network Controllers via Semidefinite Programming.” 59th IEEE Conference on Decision and Control (CDC), 2020. [Paper]
[C6] Alexander Robey*, Haimin Hu*, Lars Lindemann, Hanwen Zhang, Dimos V. Dimarogonas, Stephen Tu and Nikolai Matni, “Learning Control Barrier Functions from Expert Demonstrations.” 59th IEEE Conference on Decision and Control (CDC), 2020. [Paper] [Code]
[C5] Haimin Hu, Konstantinos Gatsis, Manfred Morari and George J. Pappas, “Non-Cooperative Distributed MPC with Iterative Learning.” 21st IFAC World Congress, 2019. [Paper] [Slides] [Video]
[C4] Haimin Hu, Konstantinos Gatsis, Manfred Morari and George J. Pappas, “Tuning Communication Latency for Distributed Model Predictive Control.” 8th IFAC Conference on Distributed Estimation and Control in Networked Systems (NecSys), 2019. [Paper] [Poster]
[C3] Xuhui Feng, Haimin Hu, Mario E. Villanueva and Boris Houska, “Min-max Differential Inequalities for Polytopic Tube MPC.” American Control Conference (ACC), 2019. [Paper] [Slides] [Video]
[C2] Haimin Hu, Ye Pu, Mo Chen and Claire J. Tomlin, “Plug and Play Distributed Model Predictive Control for Heavy Duty Vehicle Platooning and Interaction with Passenger Vehicles.” 57th IEEE Conference on Decision and Control (CDC), 2018. [Paper] [Slides]
[C1] Haimin Hu, Xuhui Feng, Rien Quirynen, Mario E. Villanueva and Boris Houska, “Real-Time Tube MPC Applied to a 10-State Quadrotor Model.” American Control Conference (ACC), 2018. [Paper] [Slides] [Errata]
Journal Papers
[J4] Haimin Hu, David Isele, Sangjae Bae and Jaime F. Fisac, “Active Uncertainty Reduction for Safe and Efficient Interaction Planning: A Shielding-Aware Dual Control Approach.” The International Journal of Robotics Research (IJRR), 2023. [Paper] [Video]
[J3] Kai-Chieh Hsu, Haimin Hu and Jaime F. Fisac, “The Safety Filter: A Unified View of Safety-Critical Control in Autonomous Systems.” Annual Review of Control, Robotics, and Autonomous Systems (ARCRAS), 2023. [Paper]
[J2] Haimin Hu, Kensuke Nakamura and Jaime F. Fisac, “SHARP: Shielding-Aware Robust Planning for Safe and Efficient Human-Robot Interaction.” IEEE Robotics and Automation Letters (RA-L), 2022. [Paper] [Code] [Video] [Homepage] [Poster]
[J1] Mo Chen*, Sylvia L. Herbert*, Haimin Hu, Ye Pu, Jaime F. Fisac, Somil Bansal, SooJean Han, Claire J. Tomlin, “FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking.” IEEE Transactions on Automatic Control (TAC), 2021. [Paper] [Slides]
*indicates equal contribution
Haimin Hu 