Preemptive Detection and Steering of LLM Misalignment via Latent Reachability
Sathwik Karnik, Somil Bansal
arXiv, 2025 [PDF]

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

From Perception Logs to Failure Modes: Language-Driven Semantic Clustering of Failures for Robot Safety
Aryaman Gupta*, Yusuf Umut Ciftci*, Somil Bansal. * equal contribution
arXiv, 2025 [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. * equal contribution
arXiv, 2025 [PDF]

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]

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]

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 IEEE 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]

Control and Safety of Autonomous Vehicles with Learning-Enabled Components
Somil Bansal, Claire J. Tomlin
Safe, Autonomous and Intelligent Vehicles, Springer, Page 57-75, 2019 [PDF] [BibTeX]