Somil Bansal

According to our database, Somil Bansal authored at least 45 papers between 2014 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of three.

2024

On Safety and Liveness Filtering Using Hamilton-Jacobi Reachability Analysis.

Javier Borquez, Kaustav Chakraborty, Hao Wang, Somil Bansal

IEEE Trans. Robotics, 2024

Providing Safety Assurances for Systems With Unknown Dynamics.

Hao Wang, Javier Borquez, Somil Bansal

IEEE Control. Syst. Lett., 2024

Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker.

Xingpeng Xia, Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal

CoRR, 2024

Updating Robot Safety Representations Online from Natural Language Feedback.

Leonardo Santos, Zirui Li, Lasse Peters, Somil Bansal, Andrea Bajcsy

CoRR, 2024

Cooptimizing Safety and Performance with a Control-Constrained Formulation.

Hao Wang, Adityaya Dhande, Somil Bansal

CoRR, 2024

Stable-BC: Controlling Covariate Shift with Stable Behavior Cloning.

Shaunak A. Mehta, Yusuf Umut Ciftci, Balamurugan Ramachandran, Somil Bansal, Dylan P. Losey

CoRR, 2024

Parameterized Fast and Safe Tracking (FaSTrack) using Deepreach.

HyunJae Jeong, Zheng Gong, Somil Bansal, Sylvia L. Herbert

CoRR, 2024

SAFE-GIL: SAFEty Guided Imitation Learning.

Yusuf Umut Ciftci, Zeyuan Feng, Somil Bansal

CoRR, 2024

Imposing Exact Safety Specifications in Neural Reachable Tubes.

Aditya Singh, Zeyuan Feng, Somil Bansal

CoRR, 2024

Verification of neural reachable tubes via scenario optimization and conformal prediction.

Albert Lin, Somil Bansal

Proceedings of the 6th Annual Learning for Dynamics & Control Conference, 2024

Parameterized fast and safe tracking (FaSTrack) using DeepReach.

Hyun Joe Jeong, Zheng Gong, Somil Bansal, Sylvia L. Herbert

Proceedings of the 6th Annual Learning for Dynamics & Control Conference, 2024

Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers.

Aryaman Gupta, Kaustav Chakraborty, Somil Bansal

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

2023

Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis.

Kaustav Chakraborty, Somil Bansal

IEEE Robotics Autom. Lett., May, 2023

Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions.

Javier Borquez, Shuang Peng, Yiyu Chen, Quan Nguyen, Somil Bansal

CoRR, 2023

Online Update of Safety Assurances Using Confidence-Based Predictions.

Kensuke Nakamura, Somil Bansal

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Generating Formal Safety Assurances for High-Dimensional Reachability.

Albert Lin, Somil Bansal

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online.

Javier Borquez, Kensuke Nakamura, Somil Bansal

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022

Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots.

Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal

IEEE Robotics Autom. Lett., 2022

2021

Provably Safe and Scalable Multivehicle Trajectory Planning.

Somil Bansal, Mo Chen, Ken Tanabe, Claire J. Tomlin

IEEE Trans. Control. Syst. Technol., 2021

FaSTrack: A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking.

Mo Chen, Sylvia L. Herbert, Haimin Hu, Ye Pu, Jaime Fernández Fisac, Somil Bansal, SooJean Han, Claire J. Tomlin

IEEE Trans. Autom. Control., 2021

Visual Navigation Among Humans With Optimal Control as a Supervisor.

Varun Tolani, Somil Bansal, Aleksandra Faust, Claire J. Tomlin

IEEE Robotics Autom. Lett., 2021

A Robust Control Framework for Human Motion Prediction.

Andrea Bajcsy, Somil Bansal, Ellis Ratner, Claire J. Tomlin, Anca D. Dragan

IEEE Robotics Autom. Lett., 2021

DeepReach: A Deep Learning Approach to High-Dimensional Reachability.

Somil Bansal, Claire J. Tomlin

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

2020

Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability.

Anjian Li, Somil Bansal, Georgios Giovanis, Varun Tolani, Claire J. Tomlin, Mo Chen

Proceedings of the 2nd Annual Conference on Learning for Dynamics and Control, 2020

A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning.

Somil Bansal, Andrea Bajcsy, Ellis Ratner, Anca D. Dragan, Claire J. Tomlin

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Plug-and-Play Model Predictive Control for Load Shaping and Voltage Control in Smart Grids.

Caroline Le Floch, Somil Bansal, Claire J. Tomlin, Scott J. Moura, Melanie N. Zeilinger

IEEE Trans. Smart Grid, 2019

Robust Sequential Trajectory Planning Under Disturbances and Adversarial Intruder.

Mo Chen, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin

IEEE Trans. Control. Syst. Technol., 2019

A new simulation metric to determine safe environments and controllers for systems with unknown dynamics.

Shromona Ghosh, Somil Bansal, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, Claire J. Tomlin

Proceedings of the 22nd ACM International Conference on Hybrid Systems: Computation and Control, 2019

Combining Optimal Control and Learning for Visual Navigation in Novel Environments.

Somil Bansal, Varun Tolani, Saurabh Gupta, Jitendra Malik, Claire J. Tomlin

Proceedings of the 3rd Annual Conference on Robot Learning, 2019

Reachability-Based Safety Guarantees using Efficient Initializations.

Sylvia L. Herbert, Somil Bansal, Shromona Ghosh, Claire J. Tomlin

Proceedings of the 58th IEEE Conference on Decision and Control, 2019

Closed-loop Model Selection for Kernel-based Models using Bayesian Optimization.

Thomas Beckers, Somil Bansal, Claire J. Tomlin, Sandra Hirche

Proceedings of the 58th IEEE Conference on Decision and Control, 2019

An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments.

Andrea Bajcsy, Somil Bansal, Eli Bronstein, Varun Tolani, Claire J. Tomlin

Proceedings of the 58th IEEE Conference on Decision and Control, 2019

2018

Decomposition of Reachable Sets and Tubes for a Class of Nonlinear Systems.

Mo Chen, Sylvia L. Herbert, Mahesh S. Vashishtha, Somil Bansal, Claire J. Tomlin

IEEE Trans. Autom. Control., 2018

Context-Specific Validation of Data-Driven Models.

Somil Bansal, Shromona Ghosh, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, Claire J. Tomlin

CoRR, 2018

2017

Safe and Resilient Multi-vehicle Trajectory Planning Under Adversarial Intruder.

Somil Bansal, Mo Chen, Claire J. Tomlin

CoRR, 2017

MBMF: Model-Based Priors for Model-Free Reinforcement Learning.

Somil Bansal, Roberto Calandra, Sergey Levine, Claire J. Tomlin

CoRR, 2017

Provably Safe and Robust Drone Routing via Sequential Path Planning: A Case Study in San Francisco and the Bay Area.

Mo Chen, Somil Bansal, Ken Tanabe, Claire J. Tomlin

CoRR, 2017

FaSTrack: A modular framework for fast and guaranteed safe motion planning.

Sylvia L. Herbert, Mo Chen, SooJean Han, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin

Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

Goal-driven dynamics learning via Bayesian optimization.

Somil Bansal, Roberto Calandra, Ted Xiao, Sergey Levine, Claire J. Tomlin

Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

Hamilton-Jacobi reachability: A brief overview and recent advances.

Somil Bansal, Mo Chen, Sylvia L. Herbert, Claire J. Tomlin

Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

Safe sequential path planning under disturbances and imperfect information.

Somil Bansal, Mo Chen, Jaime F. Fisac, Claire J. Tomlin

Proceedings of the 2017 American Control Conference, 2017

2016

Robust Sequential Path Planning Under Disturbances and Adversarial Intruder.

Mo Chen, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin

CoRR, 2016

Safe Sequential Path Planning of Multi-Vehicle Systems Under Presence of Disturbances and Imperfect Information.

Somil Bansal, Mo Chen, Jaime F. Fisac, Claire J. Tomlin

CoRR, 2016

Learning quadrotor dynamics using neural network for flight control.

Somil Bansal, Anayo K. Akametalu, Frank J. Jiang, Forrest Laine, Claire J. Tomlin

Proceedings of the 55th IEEE Conference on Decision and Control, 2016

2014

Plug-and-play model predictive control for electric vehicle charging and voltage control in smart grids.

Somil Bansal, Melanie Nicole Zeilinger, Claire J. Tomlin

Proceedings of the 53rd IEEE Conference on Decision and Control, 2014