Conference and Journal Publications

Verification of Neural Reachable Tubes via Scenario Optimization and Conformal Prediction
Albert Lin, Somil Bansal
arXiv, 2023 [PDF]

Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers
Aryaman Gupta, Kaustav Chakraborty, Somil Bansal
arXiv, 2023 [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
arXiv, 2023 [PDF] [Website]

Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis
Kaustav Chakraborty, Somil Bansal
IEEE Robotics and Automation Letters (RA-L), 2023 [PDF] [Website] [Code]

Online Update of Safety Assurances Using Confidence-Based Predictions
Kensuke Nakamura, Somil Bansal
International Conference on Robotics and Automation (ICRA), 2023 [PDF] [Website] [Code]

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]