Somil Bansal

Publication Activity (10 Years)

Years Active: 2014-2024
Publications (10 Years): 63

Top Topics

Reinforcement Learning

Reachability Analysis

Visual Navigation

Top Venues

IEEE Robotics Autom. Lett.

Publications

Albert Lin, Somil Bansal
Verification of neural reachable tubes via scenario optimization and conformal prediction. L4DC (2024)
Aditya Singh, Zeyuan Feng, Somil Bansal
Imposing Exact Safety Specifications in Neural Reachable Tubes. CoRR (2024)
HyunJae Jeong, Zheng Gong, Somil Bansal, Sylvia L. Herbert
Parameterized Fast and Safe Tracking (FaSTrack) using Deepreach. CoRR (2024)
Yusuf Umut Ciftci, Zeyuan Feng, Somil Bansal
SAFE-GIL: SAFEty Guided Imitation Learning. CoRR (2024)
Aryaman Gupta, Kaustav Chakraborty, Somil Bansal
Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers. ICRA (2024)
Hao Wang, Javier Borquez, Somil Bansal
Providing Safety Assurances for Systems With Unknown Dynamics. IEEE Control. Syst. Lett. 8 (2024)
Hao Wang, Javier Borquez, Somil Bansal
Providing Safety Assurances for Systems with Unknown Dynamics. CoRR (2024)
Hyun Joe Jeong, Zheng Gong, Somil Bansal, Sylvia L. Herbert
Parameterized fast and safe tracking (FaSTrack) using DeepReach. L4DC (2024)
Javier Borquez, Kaustav Chakraborty, Hao Wang, Somil Bansal
On Safety and Liveness Filtering Using Hamilton-Jacobi Reachability Analysis. CoRR (2023)
Javier Borquez, Kensuke Nakamura, Somil Bansal
Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online. ICRA (2023)
Kensuke Nakamura, Somil Bansal
Online Update of Safety Assurances Using Confidence-Based Predictions. ICRA (2023)
Aryaman Gupta, Kaustav Chakraborty, Somil Bansal
Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers. CoRR (2023)
Albert Lin, Somil Bansal
Verification of Neural Reachable Tubes via Scenario Optimization and Conformal Prediction. CoRR (2023)
Kaustav Chakraborty, Somil Bansal
Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis. IEEE Robotics Autom. Lett. 8 (5) (2023)
Javier Borquez, Shuang Peng, Yiyu Chen, Quan Nguyen, Somil Bansal
Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions. CoRR (2023)
Albert Lin, Somil Bansal
Generating Formal Safety Assurances for High-Dimensional Reachability. ICRA (2023)
Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots. CoRR (2022)
Kaustav Chakraborty, Somil Bansal
Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis. CoRR (2022)
Javier Borquez, Kensuke Nakamura, Somil Bansal
Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online. CoRR (2022)
Albert Lin, Somil Bansal
Generating Formal Safety Assurances for High-Dimensional Reachability. CoRR (2022)
Kensuke Nakamura, Somil Bansal
Online Update of Safety Assurances Using Confidence-Based Predictions. CoRR (2022)
Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots. IEEE Robotics Autom. Lett. 7 (2) (2022)
Andrea Bajcsy, Somil Bansal, Ellis Ratner, Claire J. Tomlin, Anca D. Dragan
A Robust Control Framework for Human Motion Prediction. IEEE Robotics Autom. Lett. 6 (1) (2021)
Mo Chen, Sylvia L. Herbert, Haimin Hu, Ye Pu, Jaime Fernández Fisac, Somil Bansal, SooJean Han, Claire J. Tomlin
FaSTrack: A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking. IEEE Trans. Autom. Control. 66 (12) (2021)
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. CoRR (2021)
Somil Bansal, Mo Chen, Ken Tanabe, Claire J. Tomlin
Provably Safe and Scalable Multivehicle Trajectory Planning. IEEE Trans. Control. Syst. Technol. 29 (6) (2021)
Varun Tolani, Somil Bansal, Aleksandra Faust, Claire J. Tomlin
Visual Navigation Among Humans With Optimal Control as a Supervisor. IEEE Robotics Autom. Lett. 6 (2) (2021)
Somil Bansal, Claire J. Tomlin
DeepReach: A Deep Learning Approach to High-Dimensional Reachability. ICRA (2021)
Anjian Li, Somil Bansal, Georgios Giovanis, Varun Tolani, Claire J. Tomlin, Mo Chen
Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability. L4DC (2020)
Varun Tolani, Somil Bansal, Aleksandra Faust, Claire J. Tomlin
Visual Navigation Among Humans with Optimal Control as a Supervisor. CoRR (2020)
Somil Bansal, Claire J. Tomlin
DeepReach: A Deep Learning Approach to High-Dimensional Reachability. CoRR (2020)
Somil Bansal, Andrea Bajcsy, Ellis Ratner, Anca D. Dragan, Claire J. Tomlin
A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning. ICRA (2020)
Thomas Beckers, Somil Bansal, Claire J. Tomlin, Sandra Hirche
Closed-loop Model Selection for Kernel-based Models using Bayesian Optimization. CDC (2019)
Shromona Ghosh, Somil Bansal, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, Claire J. Tomlin
A new simulation metric to determine safe environments and controllers for systems with unknown dynamics. HSCC (2019)
Somil Bansal, Andrea Bajcsy, Ellis Ratner, Anca D. Dragan, Claire J. Tomlin
A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning. CoRR (2019)
Andrea Bajcsy, Somil Bansal, Eli Bronstein, Varun Tolani, Claire J. Tomlin
An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments. CoRR (2019)
Andrea Bajcsy, Somil Bansal, Eli Bronstein, Varun Tolani, Claire J. Tomlin
An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments. CDC (2019)
Sylvia L. Herbert, Somil Bansal, Shromona Ghosh, Claire J. Tomlin
Reachability-Based Safety Guarantees using Efficient Initializations. CDC (2019)
Caroline Le Floch, Somil Bansal, Claire J. Tomlin, Scott J. Moura, Melanie N. Zeilinger
Plug-and-Play Model Predictive Control for Load Shaping and Voltage Control in Smart Grids. IEEE Trans. Smart Grid 10 (3) (2019)
Thomas Beckers, Somil Bansal, Claire J. Tomlin, Sandra Hirche
Closed-loop Model Selection for Kernel-based Models using Bayesian Optimization. CoRR (2019)
Sylvia L. Herbert, Shromona Ghosh, Somil Bansal, Claire J. Tomlin
Reachability-Based Safety Guarantees using Efficient Initializations. CoRR (2019)
Shromona Ghosh, Somil Bansal, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, Claire J. Tomlin
A New Simulation Metric to Determine Safe Environments and Controllers for Systems with Unknown Dynamics. CoRR (2019)
Somil Bansal, Varun Tolani, Saurabh Gupta, Jitendra Malik, Claire J. Tomlin
Combining Optimal Control and Learning for Visual Navigation in Novel Environments. CoRL (2019)
Anjian Li, Somil Bansal, Georgios Giovanis, Varun Tolani, Claire J. Tomlin, Mo Chen
Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability. CoRR (2019)
Somil Bansal, Varun Tolani, Saurabh Gupta, Jitendra Malik, Claire J. Tomlin
Combining Optimal Control and Learning for Visual Navigation in Novel Environments. CoRR (2019)
Mo Chen, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin
Robust Sequential Trajectory Planning Under Disturbances and Adversarial Intruder. IEEE Trans. Control. Syst. Technol. 27 (4) (2019)
Somil Bansal, Shromona Ghosh, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, Claire J. Tomlin
Context-Specific Validation of Data-Driven Models. CoRR (2018)
Mo Chen, Sylvia L. Herbert, Mahesh S. Vashishtha, Somil Bansal, Claire J. Tomlin
Decomposition of Reachable Sets and Tubes for a Class of Nonlinear Systems. IEEE Trans. Autom. Control. 63 (11) (2018)
Somil Bansal, Mo Chen, Claire J. Tomlin
Safe and Resilient Multi-vehicle Trajectory Planning Under Adversarial Intruder. CoRR (2017)
Somil Bansal, Mo Chen, Jaime F. Fisac, Claire J. Tomlin
Safe sequential path planning under disturbances and imperfect information. ACC (2017)
Somil Bansal, Roberto Calandra, Sergey Levine, Claire J. Tomlin
MBMF: Model-Based Priors for Model-Free Reinforcement Learning. CoRR (2017)
Mo Chen, Somil Bansal, Ken Tanabe, Claire J. Tomlin
Provably Safe and Robust Drone Routing via Sequential Path Planning: A Case Study in San Francisco and the Bay Area. CoRR (2017)
Somil Bansal, Roberto Calandra, Ted Xiao, Sergey Levine, Claire J. Tomlin
Goal-driven dynamics learning via Bayesian optimization. CDC (2017)
Somil Bansal, Roberto Calandra, Ted Xiao, Sergey Levine, Claire J. Tomlin
Goal-Driven Dynamics Learning via Bayesian Optimization. CoRR (2017)
Somil Bansal, Mo Chen, Sylvia L. Herbert, Claire J. Tomlin
Hamilton-Jacobi reachability: A brief overview and recent advances. CDC (2017)
Sylvia L. Herbert, Mo Chen, SooJean Han, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin
FaSTrack: A modular framework for fast and guaranteed safe motion planning. CDC (2017)
Somil Bansal, Mo Chen, Sylvia L. Herbert, Claire J. Tomlin
Hamilton-Jacobi Reachability: A Brief Overview and Recent Advances. CoRR (2017)
Sylvia L. Herbert, Mo Chen, SooJean Han, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin
FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning. CoRR (2017)
Somil Bansal, Anayo K. Akametalu, Frank J. Jiang, Forrest Laine, Claire J. Tomlin
Learning quadrotor dynamics using neural network for flight control. CDC (2016)
Caroline Le Floch, Somil Bansal, Claire J. Tomlin, Scott J. Moura, Melanie Nicole Zeilinger
Plug-and-Play Model Predictive Control for Load Shaping and Voltage Control in Smart Grids. CoRR (2016)
Somil Bansal, Anayo K. Akametalu, Frank J. Jiang, Forrest Laine, Claire J. Tomlin
Learning Quadrotor Dynamics Using Neural Network for Flight Control. CoRR (2016)
Somil Bansal, Mo Chen, Jaime F. Fisac, Claire J. Tomlin
Safe Sequential Path Planning of Multi-Vehicle Systems Under Presence of Disturbances and Imperfect Information. CoRR (2016)
Mo Chen, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin
Robust Sequential Path Planning Under Disturbances and Adversarial Intruder. CoRR (2016)
Somil Bansal, Melanie Nicole Zeilinger, Claire J. Tomlin
Plug-and-play model predictive control for electric vehicle charging and voltage control in smart grids. CDC (2014)