Preprints

Safety-Aware Imitation Learning via MPC-Guided Disturbance Injection
Le Qiu, Yusuf Umut Ciftci, Somil Bansal
arXiv, 2025 [PDF]

Enhancing Robot Safety via MLLM-Based Semantic Interpretation of Failure Data
Aryaman Gupta*, Yusuf Umut Ciftci*, Somil Bansal
arXiv, 2025 [PDF] [Website]

One Filter to Deploy Them All: Robust Safety for Quadrupedal Navigation in Unknown Environments
Albert Lin, Shuang Peng, Somil Bansal
arXiv, 2024 [PDF] [Website]

Enhancing Safety and Robustness of Vision-Based Controllers via Reachability Analysis
Kaustav Chakraborty, Aryaman Gupta, Somil Bansal
arXiv, 2024 [PDF] [Website]

Safety Evaluation of Motion Plans Using Trajectory Predictors as Forward Reachable Set Estimators
Kaustav Chakraborty*, Zeyuan Feng*, Sushant Veer*, Apoorva Sharma, Wenhao Ding, Sever Topan, Boris Ivanovic, Marco Pavone, Somil Bansal
arXiv, 2025 [PDF]

Safe and Performant Deployment of Autonomous Systems via Model Predictive Control and Hamilton-Jacobi Reachability Analysis
Hao Wang, Armand Jordana, Ludovic Righetti, Somil Bansal
arXiv, 2025 [PDF]

Reachability Barrier Networks: Learning Hamilton-Jacobi Solutions for Smooth and Flexible Control Barrier Functions
Matthew Kim, William Sharpless, Hyun Joe Jeong, Sander Tonkens, Somil Bansal, Sylvia Herbert
arXiv, 2025 [PDF]

Conference and Journal Publications

DualGuard MPPI: Safe and Performant Optimal Control by Combining Sampling-Based MPC and Hamilton-Jacobi Reachability
Javier Borquez, Luke Raus, Yusuf Umut Ciftci, Somil Bansal
IEEE Robotics and Automation Letters (RA-L), 2025 [PDF]

Bridging Model Predictive Control and Deep Learning for Scalable Reachability Analysis
Zeyuan Feng, Le Qiu, Somil Bansal
Robotics Sciences and Systems (RSS), 2025 [PDF]

A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems
Manan Tayal*, Aditya Singh*, Shishir Kolathaya, Somil Bansal
International Conference on Machine Learning (ICML), 2025 [PDF]

Cooptimizing Safety and Performance with a Control-Constrained Formulation
Hao Wang*, Adityaya Dhande*, Somil Bansal
IEEE Control Systems Letters (L-CSS), 2025 [PDF] [Code]

Linear Supervision for Nonlinear, High-Dimensional Neural Control and Differential Games
William Sharpless, Zeyuan Feng, Somil Bansal, Sylvia Herbert
Learning for Dynamics and Control Conference (L4DC), 2025 [PDF]

Stable-BC: Controlling Covariate Shift with Stable Behavior Cloning
Shaunak A. Mehta, Yusuf Umut Ciftci, Balamurugan Ramachandran, Somil Bansal, Dylan P. Losey
IEEE Robotics and Automation Letters (RA-L), 2025 [PDF] [Website]

Updating Robot Safety Representations Online from Natural Language Feedback
Leonardo Santos, Zirui Li, Lasse Peters, Somil Bansal, Andrea Bajcsy
IEEE International Conference on Robotics and Automation (ICRA), 2025 [PDF]

SAFE-GIL: SAFEty Guided Imitation Learning
Yusuf Umut Ciftci, Darren Chiu, Zeyuan Feng, Gaurav Sukhatme, Somil Bansal
IEEE International Conference on Robotics and Automation (ICRA), 2025 [PDF]

System-Level Safety Monitoring and Recovery for Perception Failures in Autonomous Vehicles
Kaustav Chakraborty*, Zeyuan Feng*, Sushant Veer, Apoorva Sharma, Boris Ivanovic, Marco Pavone, Somil Bansal
IEEE International Conference on Robotics and Automation (ICRA), 2025 [PDF] [Project Website]

Reachability Analysis for Black-Box Dynamical Systems
Vamsi Krishna Chilakamarri*, Zeyuan Feng*, Somil Bansal
IEEE International Conference on Robotics and Automation (ICRA), 2025 [Paper] [Code]

Imposing Exact Safety Specifications in Neural Reachable Tubes
Aditya Singh*, Zeyuan Feng*, Somil Bansal
IEEE International Conference on Robotics and Automation (ICRA), 2025 [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]

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
IEEE International Conference on Robotics and Automation (ICRA), 2023 [PDF] [Website] [Code]

Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online
Javier Borquez, Kensuke Nakamura, Somil Bansal
IEEE International Conference on Robotics and Automation (ICRA), 2023 [PDF] [Website] [Code]

Generating Formal Safety Assurances for High-Dimensional Reachability
Albert Lin, Somil Bansal
IEEE International Conference on Robotics and Automation (ICRA), 2023 [PDF] [Website] [Code]

Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots
Jason Choi, Ayush Agrawal, Koushil Sreenath, Claire Tomlin, Somil Bansal
IEEE Robotics and Automation Letters (RA-L), and
International Conference on Robotics and Automation (ICRA), 2022 [PDF] [Code and Videos]

DeepReach: A Deep Learning Approach to High-Dimensional Reachability
Somil Bansal, Claire J. Tomlin
IEEE International Conference on Robotics and Automation (ICRA), 2021 [PDF] [Code]

Visual Navigation Among Humans with Optimal Control as a Supervisor
Varun Tolani, Somil Bansal, Aleksandra Faust, Claire J. Tomlin
IEEE Robotics and Automation Letters (RA-L), and
International Conference on Robotics and Automation (ICRA), 2021 [PDF] [Code and Videos]

Provably Safe and Scalable Multi-Vehicle Trajectory Planning
Somil Bansal, Mo Chen, Ken Tanabe, Claire Tomlin
IEEE Transactions on Control Systems Technology (TCST), 2021 [PDF] [Video]

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
International Conference on Robotics and Automation (ICRA), 2020 [PDF]

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
2nd Annual Conference on Learning for Dynamics and Control (L4DC), 2020 [PDF]

A Robust Control Framework for Human Motion Prediction
Andrea Bajcsy, Somil Bansal, Ellis Ratner, Claire J. Tomlin, Anca D. Dragan
IEEE Robotics and Automation Letters (RA-L), 2020 [PDF]

FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking
Mo Chen, Sylvia Herbert, Haimin Hu, Ye Pu, Jaime F. Fisac, Somil Bansal, SooJean Han, Claire Tomlin
IEEE Transactions on Automatic Control (TAC), 2020 [PDF]

Combining Optimal Control and Learning for Visual Navigation in Novel Environments
Somil Bansal, Varun Tolani, Saurabh Gupta, Jitendra Malik, Claire J. Tomlin
Conference on Robot Learning (CoRL), 2019 [PDF] [BibTeX] [Code and Videos]

An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments
Andrea Bajcsy, Somil Bansal, Eli Bronstein, Varun Tolani, Claire J. Tomlin
IEEE Conference on Decision and Control (CDC), 2019 [PDF] [BibTeX] [Project Website and Videos]

Reachability-Based Safety Guarantees Using Efficient Initializations
Sylvia Herbert, Somil Bansal, Shromona Ghosh, Claire J. Tomlin
IEEE Conference on Decision and Control (CDC), 2019 [PDF] [BibTeX]

Closed-Loop Model Selection for Kernel-based Models Using Bayesian Optimization
Thomas Beckers, Somil Bansal, Claire J. Tomlin, Sandra Hirche
IEEE Conference on Decision and Control (CDC), 2019 [PDF]

A New Simulation Metric to Determine Safe Environments and Controllers for Systems with Unknown Dynamics
Shromona Ghosh, Somil Bansal, Alberto Sangiovanni-Vincentelli, Sanjit Seshia, Claire Tomlin
ACM International Conference on Hybrid Systems: Computation and Control (HSCC), 2019 [PDF] [BibTeX]

Goal-Driven Dynamics Learning via Bayesian Optimization
Somil Bansal, Roberto Calandra, Ted Xiao, Sergey Levine, Claire Tomlin
IEEE Conference on Decision and Control (CDC), 2017 [PDF] [BibTeX] [Video]

Hamilton-Jacobi Reachability: A Brief Overview and Recent Advances
Somil Bansal, Mo Chen, Sylvia Herbert, Claire Tomlin
IEEE Conference on Decision and Control (CDC), 2017 [PDF] [BibTeX] [Videos]

FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning
Sylvia Herbert, Mo Chen, Soojean Han, Somil Bansal, Jaime F. Fisac, Claire Tomlin
IEEE Conference on Decision and Control (CDC), 2017 [PDF] [BibTeX]

Safe Sequential Path Planning of Multi-Vehicle Systems Under Disturbances and Imperfect Information
Somil Bansal, Mo Chen, Jaime F. Fisac, Claire Tomlin
American Control Conference (ACC), 2017 [PDF] [BibTeX]

Robust Sequential Path Planning Under Disturbances and Adversarial Intruder
Mo Chen, Somil Bansal, Jaime F. Fisac, Claire Tomlin
IEEE Transactions on Control Systems Technology (TCST), 2017 [PDF] [BibTeX]

Decomposition of Reachable Sets and Tubes for a Class of Nonlinear Systems
Mo Chen, Sylvia Herbert, Mahesh Vashishtha, Somil Bansal, Claire Tomlin
IEEE Transactions on Automatic Control (TAC), 2017 [PDF] [BibTeX]

Plug-and-Play Model Predictive Control for Load Shaping and Voltage Control in Smart Grids
Caroline L. Floch, Somil Bansal, Claire Tomlin, Scott Moura, Melanie Zeilinger
IEEE Transactions on Smart Grid, 2017 [PDF] [BibTeX]

Learning Quadrotor Dynamics Using Neural Network for Flight Control
Somil Bansal, Anayo K. Akametalu, Frank Jiang, Forrest Laine, Claire Tomlin
IEEE Conference on Decision and Control (CDC), 2016 [PDF] [BibTeX] [Video]

Plug-and-Play Model Predictive Control for Electrical Vehicle Charging and Voltage Control in Smart Grids
Somil Bansal, Melanie Zeilinger, Claire Tomlin
IEEE Conference on Decision and Control (CDC), 2014 [PDF] [BibTeX]

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]

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]