Conference and Journal Publications
Enhancing Safety and Robustness of Vision-Based Controllers via Reachability Analysis
Kaustav Chakraborty, Aryaman Gupta, Somil Bansal
arXiv, 2024
[PDF]
[Website]
Cooptimizing Safety and Performance with a Control-Constrained Formulation
Hao Wang*, Adityaya Dhande*, Somil Bansal
arXiv, 2024
[PDF]
[Code]
Updating Robot Safety Representations Online from Natural Language Feedback
Leonardo Santos, Zirui Li, Lasse Peters, Somil Bansal, Andrea Bajcsy
arXiv, 2024
[PDF]
Stable-BC: Controlling Covariate Shift with Stable Behavior Cloning
Shaunak A. Mehta, Yusuf Umut Ciftci, Balamurugan Ramachandran, Somil Bansal, Dylan P. Losey
arXiv, 2024
[PDF]
[Website]
SAFE-GIL: SAFEty Guided Imitation Learning
Yusuf Umut Ciftci, Zeyuan Feng, Somil Bansal
arXiv, 2024
[PDF]
Imposing Exact Safety Specifications in Neural Reachable Tubes
Aditya Singh*, Zeyuan Feng*, Somil Bansal
arXiv, 2024
[PDF]
On Safety and Liveness Filtering Using Hamilton-Jacobi Reachability Analysis
Javier Borquez, Kaustav Chakraborty, Hao Wang, Somil Bansal
IEEE Transactions on Robotics (TRO), 2024
[PDF]
Providing Safety Assurances for Systems with Unknown Dynamics
Hao Wang, Javier Borquez, Somil Bansal
IEEE Control Systems Letters (L-CSS), 2024
[PDF]
[Code]
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
IEEE Conference on Decision and Control (CDC), 2024
[PDF]
Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers
Aryaman Gupta*, Kaustav Chakraborty*, Somil Bansal
IEEE International Conference on Robotics and Automation (ICRA), 2024
[PDF]
[Website]
[Code]
Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions
Javier Borquez, Shuang Peng, Yiyu Chen, Quan Nguyen, Somil Bansal
Robotics: Science and Systems (RSS), 2024
[PDF]
[Website]
Parameterized Fast and Safe Tracking (FaSTrack) using DeepReach
Hyun Joe Jeong, Zheng Gong, Somil Bansal, Sylvia Herbert
Learning for Dynamics and Control Conference (L4DC), 2024
[PDF]
Verification of Neural Reachable Tubes via Scenario Optimization and Conformal Prediction
Albert Lin, Somil Bansal
Learning for Dynamics and Control Conference (L4DC), 2024
[PDF]
Book Chapters
Control and Safety of Autonomous Vehicles with Learning-Enabled Components
Somil Bansal, Claire Tomlin
Safe, Autonomous and Intelligent Vehicles, Springer, Page 57-75, 2019
[PDF]
[BibTeX]
Workshop Publications
Combining Optimal Control and Learning for Visual Navigation in Novel Environments
Somil Bansal, Varun Tolani, Saurabh Gupta, Jitendra Malik, Claire Tomlin
Workshop on Deep Learning for Visual Navigation
Conference on Computer Vision and Pattern Recognition (CVPR), 2019
Safe Learning-Enabled Decision Making for Autonomous Navigation in Novel Environments
Somil Bansal, Claire Tomlin
Workshop on Algorithms and Architectures for Learning-in-the-loop Systems in Autonomous Flight
International Conference on Robotics and Automation (ICRA), 2019
Advancing the Runtime of Hamilton-Jacobi Reachability Analysis
Somil Bansal, Claire Tomlin
Workshop on Towards Online Optimal Control of Dynamic Robots
International Conference on Robotics and Automation (ICRA), 2019
Technical Reports
Context-Specific Validation of Data-Driven Models
Somil Bansal, Shromona Ghosh, Alberto Sangiovanni-Vincentelli, Sanjit Seshia, Claire Tomlin
Technical report, March 2018
[PDF]
[BibTeX]
Safe and Resilient Multi-vehicle Trajectory Planning Under Adversarial Intruder
Somil Bansal, Mo Chen, Claire Tomlin
Technical report, November 2017
[PDF]
MBMF: Model-Based Priors for Model-Free Reinforcement Learning
Somil Bansal, Roberto Calandra, Kurtland Chua, Sergey Levine, Claire Tomlin
Technical report, June 2017
[PDF]
[BibTeX]
Model Predictive Control Approach to Electric Vehicle Charging in Smart Grids
Somil Bansal
MS Thesis, Department of Electrical Engineering and Computer Sciences, UC Berkeley, May 2014
[PDF]