Somil Bansal

103 papers A* 12C 1Misc 1Journal 74Unranked 15
YearRankTypeTitle / Venue / Authors
2026 J jnl
One Filter to Deploy Them All: Robust Safety for Quadrupedal Navigation in Unknown Environments.
IEEE Trans. Robotics
Albert Lin, Shuang Peng, Somil Bansal
2026 J jnl
Safety Evaluation of Motion Plans Using Trajectory Predictors as Forward Reachable Set Estimators.
IEEE Robotics Autom. Lett.
Kaustav Chakraborty, Zeyuan Feng, Sushant Veer, Apoorva Sharma, Wenhao Ding, Sever Topan, Boris Ivanovic, Marco Pavone, Somil Bansal
2026 J jnl
Steering Away from Memorization: Reachability-Constrained Reinforcement Learning for Text-to-Image Diffusion.
CoRR
Sathwik Karnik, Juyeop Kim, Sanmi Koyejo, Jong-Seok Lee, Somil Bansal
2025 A* conf
A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems.
ICML
Manan Tayal, Aditya Singh, Shishir Kolathaya, Somil Bansal
2025 J jnl
A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems.
CoRR
Manan Tayal, Aditya Singh, Shishir Kolathaya, Somil Bansal
2025 J jnl
Bridging Model Predictive Control and Deep Learning for Scalable Reachability Analysis.
CoRR
Zeyuan Feng, Le Qiu, Somil Bansal
2025 J jnl
DualGuard MPPI: Safe and Performant Optimal Control by Combining Sampling-Based MPC and Hamilton-Jacobi Reachability.
CoRR
Javier Borquez, Luke Raus, Yusuf Umut Ciftci, Somil Bansal
2025 J jnl
DualGuard MPPI: Safe and Performant Optimal Control by Combining Sampling-Based MPC and Hamilton-Jacobi Reachability.
IEEE Robotics Autom. Lett.
Javier Borquez, Luke Raus, Yusuf Umut Ciftci, Somil Bansal
2025 J jnl
Enhancing Robot Safety via MLLM-Based Semantic Interpretation of Failure Data.
CoRR
Aryaman Gupta, Yusuf Umut Ciftci, Somil Bansal
2025 A* conf
Exact Imposition of Safety Boundary Conditions in Neural Reachable Tubes.
ICRA
Aditya Singh, Zeyuan Feng, Somil Bansal
2025 J jnl
From Words to Safety: Language-Conditioned Safety Filtering for Robot Navigation.
CoRR
Zeyuan Feng, Haimingyue Zhang, Somil Bansal
2025 — conf
Linear Supervision for Nonlinear, High-Dimensional Neural Control and Differential Games.
L4DC
Will Sharpless, Zeyuan Feng, Somil Bansal, Sylvia L. Herbert
2025 J jnl
MAD-PINN: A Decentralized Physics-Informed Machine Learning Framework for Safe and Optimal Multi-Agent Control.
CoRR
Manan Tayal, Aditya Singh, Shishir Kolathaya, Somil Bansal
2025 J jnl
MADR: MPC-guided Adversarial DeepReach.
CoRR
Ryan Teoh, Sander Tonkens, Will Sharpless, Aijia Yang, Zeyuan Feng, Somil Bansal, Sylvia L. Herbert
2025 J jnl
Preemptive Detection and Steering of LLM Misalignment via Latent Reachability.
CoRR
Sathwik Karnik, Somil Bansal
2025 A* conf
Reachability Analysis for Black-Box Dynamical Systems.
ICRA
Vamsi Krishna Chilakamarri, Zeyuan Feng, Somil Bansal
2025 J jnl
Reachability Barrier Networks: Learning Hamilton-Jacobi Solutions for Smooth and Flexible Control Barrier Functions.
CoRR
Matthew Kim, Will Sharpless, Hyun Joe Jeong, Sander Tonkens, Somil Bansal, Sylvia L. Herbert
2025 J jnl
Robust Verification of Controllers under State Uncertainty via Hamilton-Jacobi Reachability Analysis.
CoRR
Albert Lin, Alessandro Pinto, Somil Bansal
2025 A* conf
SAFE-GIL: SAFEty Guided Imitation Learning for Robotic Systems.
ICRA
Yusuf Umut Ciftci, Darren Chiu, Zeyuan Feng, Gaurav S. Sukhatme, Somil Bansal
2025 J jnl
Safe and Performant Deployment of Autonomous Systems via Model Predictive Control and Hamilton-Jacobi Reachability Analysis.
CoRR
Hao Wang, Armand Jordana, Ludovic Righetti, Somil Bansal
2025 J jnl
Safety Evaluation of Motion Plans Using Trajectory Predictors as Forward Reachable Set Estimators.
CoRR
Kaustav Chakraborty, Zeyuan Feng, Sushant Veer, Apoorva Sharma, Wenhao Ding, Sever Topan, Boris Ivanovic, Marco Pavone, Somil Bansal
2025 J jnl
Safety-Aware Imitation Learning via MPC-Guided Disturbance Injection.
CoRR
Le Qiu, Yusuf Umut Ciftci, Somil Bansal
2025 J jnl
Stable-BC: Controlling Covariate Shift With Stable Behavior Cloning.
IEEE Robotics Autom. Lett.
Shaunak A. Mehta, Yusuf Umut Ciftci, Balamurugan Ramachandran, Somil Bansal, Dylan P. Losey
2025 A* conf
System-Level Safety Monitoring and Recovery for Perception Failures in Autonomous Vehicles.
ICRA
Kaustav Chakraborty, Zeyuan Feng, Sushant Veer, Apoorva Sharma, Boris Ivanovic, Marco Pavone, Somil Bansal
2025 A* conf
Updating Robot Safety Representations Online From Natural Language Feedback.
ICRA
Leonardo Santos, Zirui Li, Lasse Peters, Somil Bansal, Andrea Bajcsy
2025 J jnl
Using Vision Language Models as Closed-Loop Symbolic Planners for Robotic Applications: A Control-Theoretic Perspective.
CoRR
Hao Wang, Sathwik Karnik, Bea Lim, Somil Bansal
2024 J jnl
Cooptimizing Safety and Performance With a Control-Constrained Formulation.
IEEE Control. Syst. Lett.
Hao Wang, Adityaya Dhande, Somil Bansal
2024 J jnl
Cooptimizing Safety and Performance with a Control-Constrained Formulation.
CoRR
Hao Wang, Adityaya Dhande, Somil Bansal
2024 A* conf
Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers.
ICRA
Aryaman Gupta, Kaustav Chakraborty, Somil Bansal
2024 J jnl
Enhancing Safety and Robustness of Vision-Based Controllers via Reachability Analysis.
CoRR
Kaustav Chakraborty, Aryaman Gupta, Somil Bansal
2024 — conf
Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker.
CDC
Xingpeng Xia, Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal
2024 J jnl
Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker.
CoRR
Xingpeng Xia, Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal
2024 — conf
Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions.
Robotics: Science and Systems
Javier Borquez, Shuang Peng, Yiyu Chen, Quan Nguyen, Somil Bansal
2024 J jnl
Imposing Exact Safety Specifications in Neural Reachable Tubes.
CoRR
Aditya Singh, Zeyuan Feng, Somil Bansal
2024 J jnl
Linear Supervision for Nonlinear, High-Dimensional Neural Control and Differential Games.
CoRR
Will Sharpless, Zeyuan Feng, Somil Bansal, Sylvia L. Herbert
2024 J jnl
On Safety and Liveness Filtering Using Hamilton-Jacobi Reachability Analysis.
IEEE Trans. Robotics
Javier Borquez, Kaustav Chakraborty, Hao Wang, Somil Bansal
2024 J jnl
One Filter to Deploy Them All: Robust Safety for Quadrupedal Navigation in Unknown Environments.
CoRR
Albert Lin, Shuang Peng, Somil Bansal
2024 J jnl
Parameterized Fast and Safe Tracking (FaSTrack) using Deepreach.
CoRR
HyunJae Jeong, Zheng Gong, Somil Bansal, Sylvia L. Herbert
2024 — conf
Parameterized fast and safe tracking (FaSTrack) using DeepReach.
L4DC
Hyun Joe Jeong, Zheng Gong, Somil Bansal, Sylvia L. Herbert
2024 J jnl
Providing Safety Assurances for Systems With Unknown Dynamics.
IEEE Control. Syst. Lett.
Hao Wang, Javier Borquez, Somil Bansal
2024 J jnl
Providing Safety Assurances for Systems with Unknown Dynamics.
CoRR
Hao Wang, Javier Borquez, Somil Bansal
2024 J jnl
Reachability Analysis for Black-Box Dynamical Systems.
CoRR
Vamsi Krishna Chilakamarri, Zeyuan Feng, Somil Bansal
2024 J jnl
SAFE-GIL: SAFEty Guided Imitation Learning.
CoRR
Yusuf Umut Ciftci, Zeyuan Feng, Somil Bansal
2024 J jnl
Stable-BC: Controlling Covariate Shift with Stable Behavior Cloning.
CoRR
Shaunak A. Mehta, Yusuf Umut Ciftci, Balamurugan Ramachandran, Somil Bansal, Dylan P. Losey
2024 J jnl
System-Level Safety Monitoring and Recovery for Perception Failures in Autonomous Vehicles.
CoRR
Kaustav Chakraborty, Zeyuan Feng, Sushant Veer, Apoorva Sharma, Boris Ivanovic, Marco Pavone, Somil Bansal
2024 J jnl
Updating Robot Safety Representations Online from Natural Language Feedback.
CoRR
Leonardo Santos, Zirui Li, Lasse Peters, Somil Bansal, Andrea Bajcsy
2024 — conf
Verification of neural reachable tubes via scenario optimization and conformal prediction.
L4DC
Albert Lin, Somil Bansal
2023 J jnl
Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers.
CoRR
Aryaman Gupta, Kaustav Chakraborty, Somil Bansal
2023 J jnl
Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis.
IEEE Robotics Autom. Lett.
Kaustav Chakraborty, Somil Bansal
2023 A* conf
Generating Formal Safety Assurances for High-Dimensional Reachability.
ICRA
Albert Lin, Somil Bansal
2023 J jnl
Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions.
CoRR
Javier Borquez, Shuang Peng, Yiyu Chen, Quan Nguyen, Somil Bansal
2023 J jnl
On Safety and Liveness Filtering Using Hamilton-Jacobi Reachability Analysis.
CoRR
Javier Borquez, Kaustav Chakraborty, Hao Wang, Somil Bansal
2023 A* conf
Online Update of Safety Assurances Using Confidence-Based Predictions.
ICRA
Kensuke Nakamura, Somil Bansal
2023 A* conf
Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online.
ICRA
Javier Borquez, Kensuke Nakamura, Somil Bansal
2023 J jnl
Verification of Neural Reachable Tubes via Scenario Optimization and Conformal Prediction.
CoRR
Albert Lin, Somil Bansal
2022 J jnl
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots.
CoRR
Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal
2022 J jnl
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots.
IEEE Robotics Autom. Lett.
Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal
2022 J jnl
Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis.
CoRR
Kaustav Chakraborty, Somil Bansal
2022 J jnl
Generating Formal Safety Assurances for High-Dimensional Reachability.
CoRR
Albert Lin, Somil Bansal
2022 J jnl
Online Update of Safety Assurances Using Confidence-Based Predictions.
CoRR
Kensuke Nakamura, Somil Bansal
2022 J jnl
Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online.
CoRR
Javier Borquez, Kensuke Nakamura, Somil Bansal
2021 J jnl
A Robust Control Framework for Human Motion Prediction.
IEEE Robotics Autom. Lett.
Andrea Bajcsy, Somil Bansal, Ellis Ratner, Claire J. Tomlin, Anca D. Dragan
2021 A* conf
DeepReach: A Deep Learning Approach to High-Dimensional Reachability.
ICRA
Somil Bansal, Claire J. Tomlin
2021 J jnl
FaSTrack: A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking.
IEEE Trans. Autom. Control.
Mo Chen, Sylvia L. Herbert, Haimin Hu, Ye Pu, Jaime Fernández Fisac, Somil Bansal, SooJean Han, Claire J. Tomlin
2021 J jnl
FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking.
CoRR
Mo Chen, Sylvia L. Herbert, Haimin Hu, Ye Pu, Jaime F. Fisac, Somil Bansal, SooJean Han, Claire J. Tomlin
2021 J jnl
Provably Safe and Scalable Multivehicle Trajectory Planning.
IEEE Trans. Control. Syst. Technol.
Somil Bansal, Mo Chen, Ken Tanabe, Claire J. Tomlin
2021 J jnl
Visual Navigation Among Humans With Optimal Control as a Supervisor.
IEEE Robotics Autom. Lett.
Varun Tolani, Somil Bansal, Aleksandra Faust, Claire J. Tomlin
2020 A* conf
A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning.
ICRA
Somil Bansal, Andrea Bajcsy, Ellis Ratner, Anca D. Dragan, Claire J. Tomlin
2020 J jnl
DeepReach: A Deep Learning Approach to High-Dimensional Reachability.
CoRR
Somil Bansal, Claire J. Tomlin
2020 — conf
Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability.
L4DC
Anjian Li, Somil Bansal, Georgios Giovanis, Varun Tolani, Claire J. Tomlin, Mo Chen
2020 J jnl
Visual Navigation Among Humans with Optimal Control as a Supervisor.
CoRR
Varun Tolani, Somil Bansal, Aleksandra Faust, Claire J. Tomlin
2019 J jnl
A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning.
CoRR
Somil Bansal, Andrea Bajcsy, Ellis Ratner, Anca D. Dragan, Claire J. Tomlin
2019 J jnl
A New Simulation Metric to Determine Safe Environments and Controllers for Systems with Unknown Dynamics.
CoRR
Shromona Ghosh, Somil Bansal, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, Claire J. Tomlin
2019 — conf
A new simulation metric to determine safe environments and controllers for systems with unknown dynamics.
HSCC
Shromona Ghosh, Somil Bansal, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, Claire J. Tomlin
2019 — conf
An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments.
CDC
Andrea Bajcsy, Somil Bansal, Eli Bronstein, Varun Tolani, Claire J. Tomlin
2019 J jnl
An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments.
CoRR
Andrea Bajcsy, Somil Bansal, Eli Bronstein, Varun Tolani, Claire J. Tomlin
2019 — conf
Closed-loop Model Selection for Kernel-based Models using Bayesian Optimization.
CDC
Thomas Beckers, Somil Bansal, Claire J. Tomlin, Sandra Hirche
2019 J jnl
Closed-loop Model Selection for Kernel-based Models using Bayesian Optimization.
CoRR
Thomas Beckers, Somil Bansal, Claire J. Tomlin, Sandra Hirche
2019 Misc conf
Combining Optimal Control and Learning for Visual Navigation in Novel Environments.
CoRL
Somil Bansal, Varun Tolani, Saurabh Gupta, Jitendra Malik, Claire J. Tomlin
2019 J jnl
Combining Optimal Control and Learning for Visual Navigation in Novel Environments.
CoRR
Somil Bansal, Varun Tolani, Saurabh Gupta, Jitendra Malik, Claire J. Tomlin
2019 J jnl
Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability.
CoRR
Anjian Li, Somil Bansal, Georgios Giovanis, Varun Tolani, Claire J. Tomlin, Mo Chen
2019 J jnl
Plug-and-Play Model Predictive Control for Load Shaping and Voltage Control in Smart Grids.
IEEE Trans. Smart Grid
Caroline Le Floch, Somil Bansal, Claire J. Tomlin, Scott J. Moura, Melanie N. Zeilinger
2019 — conf
Reachability-Based Safety Guarantees using Efficient Initializations.
CDC
Sylvia L. Herbert, Somil Bansal, Shromona Ghosh, Claire J. Tomlin
2019 J jnl
Reachability-Based Safety Guarantees using Efficient Initializations.
CoRR
Sylvia L. Herbert, Shromona Ghosh, Somil Bansal, Claire J. Tomlin
2019 J jnl
Robust Sequential Trajectory Planning Under Disturbances and Adversarial Intruder.
IEEE Trans. Control. Syst. Technol.
Mo Chen, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin
2018 J jnl
Context-Specific Validation of Data-Driven Models.
CoRR
Somil Bansal, Shromona Ghosh, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, Claire J. Tomlin
2018 J jnl
Decomposition of Reachable Sets and Tubes for a Class of Nonlinear Systems.
IEEE Trans. Autom. Control.
Mo Chen, Sylvia L. Herbert, Mahesh S. Vashishtha, Somil Bansal, Claire J. Tomlin
2017 — conf
FaSTrack: A modular framework for fast and guaranteed safe motion planning.
CDC
Sylvia L. Herbert, Mo Chen, SooJean Han, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin
2017 J jnl
FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning.
CoRR
Sylvia L. Herbert, Mo Chen, SooJean Han, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin
2017 J jnl
Goal-Driven Dynamics Learning via Bayesian Optimization.
CoRR
Somil Bansal, Roberto Calandra, Ted Xiao, Sergey Levine, Claire J. Tomlin
2017 — conf
Goal-driven dynamics learning via Bayesian optimization.
CDC
Somil Bansal, Roberto Calandra, Ted Xiao, Sergey Levine, Claire J. Tomlin
2017 J jnl
Hamilton-Jacobi Reachability: A Brief Overview and Recent Advances.
CoRR
Somil Bansal, Mo Chen, Sylvia L. Herbert, Claire J. Tomlin
2017 — conf
Hamilton-Jacobi reachability: A brief overview and recent advances.
CDC
Somil Bansal, Mo Chen, Sylvia L. Herbert, Claire J. Tomlin
2017 J jnl
MBMF: Model-Based Priors for Model-Free Reinforcement Learning.
CoRR
Somil Bansal, Roberto Calandra, Sergey Levine, Claire J. Tomlin
2017 J jnl
Provably Safe and Robust Drone Routing via Sequential Path Planning: A Case Study in San Francisco and the Bay Area.
CoRR
Mo Chen, Somil Bansal, Ken Tanabe, Claire J. Tomlin
2017 J jnl
Safe and Resilient Multi-vehicle Trajectory Planning Under Adversarial Intruder.
CoRR
Somil Bansal, Mo Chen, Claire J. Tomlin
2017 C conf
Safe sequential path planning under disturbances and imperfect information.
ACC
Somil Bansal, Mo Chen, Jaime F. Fisac, Claire J. Tomlin
2016 J jnl
Learning Quadrotor Dynamics Using Neural Network for Flight Control.
CoRR
Somil Bansal, Anayo K. Akametalu, Frank J. Jiang, Forrest Laine, Claire J. Tomlin
2016 — conf
Learning quadrotor dynamics using neural network for flight control.
CDC
Somil Bansal, Anayo K. Akametalu, Frank J. Jiang, Forrest Laine, Claire J. Tomlin
2016 J jnl
Plug-and-Play Model Predictive Control for Load Shaping and Voltage Control in Smart Grids.
CoRR
Caroline Le Floch, Somil Bansal, Claire J. Tomlin, Scott J. Moura, Melanie Nicole Zeilinger
2016 J jnl
Robust Sequential Path Planning Under Disturbances and Adversarial Intruder.
CoRR
Mo Chen, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin
2016 J jnl
Safe Sequential Path Planning of Multi-Vehicle Systems Under Presence of Disturbances and Imperfect Information.
CoRR
Somil Bansal, Mo Chen, Jaime F. Fisac, Claire J. Tomlin
2014 — conf
Plug-and-play model predictive control for electric vehicle charging and voltage control in smart grids.
CDC
Somil Bansal, Melanie Nicole Zeilinger, Claire J. Tomlin