Taekyung Kim

Taekyung Kim
Taekyung Kim
link / email /

Papers

BR-MPPI: Barrier-Rate Guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Fields
BR-MPPI: Barrier-Rate Guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Fields
Hardik Parwana* Taekyung Kim* Kehan Long Bardh Hoxha Hideki Okamoto Georgios Fainekos Dimitra Panagou

Preprint, 2026

project page / video / code / arxiv /
Distributionally Robust Safety Under Arbitrary Uncertainties: A Safety Filtering Approach
Distributionally Robust Safety Under Arbitrary Uncertainties: A Safety Filtering Approach
Daniel Cherenson* Haejoon Lee* Taekyung Kim Dimitra Panagou

IEEE RA-L 2026 / ICRA 2027

pdf / code / web demo / arxiv /
OcclusionCBF: Backup Control Barrier Functions for Safe Navigation Among Hidden Dynamic Obstacles
OcclusionCBF: Backup Control Barrier Functions for Safe Navigation Among Hidden Dynamic Obstacles
Taekyung Kim* Hun Kuk Park* Renya Wada Nikolay Atanasov Shumon Koga Dimitra Panagou

Preprint, 2026

project page / video / code / web demo / arxiv /
Distributed Model-Based Diffusion For Scalable Multi-Robot Trajectory Optimization
Distributed Model-Based Diffusion For Scalable Multi-Robot Trajectory Optimization
Haejoon Lee Xinyi Wang Taekyung Kim Dimitra Panagou

Preprint, 2026

project page / code / arxiv /
SEAMLiS: Visibility-Aware Safety for Perception-Limited Multi-Robot Exploration
SEAMLiS: Visibility-Aware Safety for Perception-Limited Multi-Robot Exploration
Taekyung Kim Rahul Kumar Aswin Menon Tzu-Hsiang Lin Dimitra Panagou

Preprint, 2026

project page / video / code / arxiv /
Learning to Adapt Control Barrier Functions Under Epistemic and Aleatoric Uncertainty
Learning to Adapt Control Barrier Functions Under Epistemic and Aleatoric Uncertainty
Taekyung Kim Robin Inho Kee Dimitra Panagou

Preprint, 2026

project page / code / arxiv /
DiffCVaR: Reinforcement Learning for Risk Adaptation via Differentiable CVaR Barrier Functions
DiffCVaR: Reinforcement Learning for Risk Adaptation via Differentiable CVaR Barrier Functions
Xinyi Wang Taekyung Kim Bardh Hoxha Georgios Fainekos Dimitra Panagou

IEEE RA-L 2026 / ICRA 2027

project page / video / code / web demo / arxiv /
Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts
Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts
Taekyung Kim Hideki Okamoto Bardh Hoxha Georgios Fainekos Dimitra Panagou

Preprint, 2026

project page / video / code / arxiv /
Backup-Based Safety Filters: A Comparative Review of Backup CBF, Model Predictive Shielding, and gatekeeper
Backup-Based Safety Filters: A Comparative Review of Backup CBF, Model Predictive Shielding, and gatekeeper
Taekyung Kim Aswin Menon Akshunn Trivedi Dimitra Panagou

IEEE CDC 2026

project page / code / web demo / arxiv /
Beyond Collision Cones: Dynamic Obstacle Avoidance for Nonholonomic Robots via Dynamic Parabolic Control Barrier Functions
Beyond Collision Cones: Dynamic Obstacle Avoidance for Nonholonomic Robots via Dynamic Parabolic Control Barrier Functions
Hun Kuk Park* Taekyung Kim* Dimitra Panagou

IEEE ICRA 2026 (Oral)

project page / video / code / web demo / arxiv /
Safe Model Predictive Diffusion with Shielding
Safe Model Predictive Diffusion with Shielding
Taekyung Kim Keyvan Majd Hideki Okamoto Bardh Hoxha Dimitra Panagou Georgios Fainekos

IEEE ICRA 2026

project page / video / code / arxiv /
How to Adapt Control Barrier Functions? A Learning-Based Approach with Applications to a VTOL Quadplane
How to Adapt Control Barrier Functions? A Learning-Based Approach with Applications to a VTOL Quadplane
Taekyung Kim Randal W. Beard Dimitra Panagou

IEEE CDC 2025

project page / code / web demo / arxiv /
Safe Navigation in Uncertain Crowded Environments Using Risk Adaptive CVaR Barrier Functions
Safe Navigation in Uncertain Crowded Environments Using Risk Adaptive CVaR Barrier Functions
Xinyi Wang Taekyung Kim Bardh Hoxha Georgios Fainekos Dimitra Panagou

IEEE IROS 2025

project page / video / code / arxiv /
Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift
Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift
Devansh Agrawal Taekyung Kim Rajiv Govindjee Trushant Adeshara Jiangbo Yu Anuerkha Ravikumar Dimitra Panagou

RSS 2025

project page / video / code / arxiv /
Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation
Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation
Taekyung Kim Robin Inho Kee Dimitra Panagou

IEEE ICRA 2025

project page / video / code / arxiv /
Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments
Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments
Taekyung Kim Dimitra Panagou

IEEE RA-L / IROS 2025

project page / video / code / arxiv /