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FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking


Feb 14, 2021
Mo Chen, Sylvia L. Herbert, Haimin Hu, Ye Pu, Jaime F. Fisac, Somil Bansal, SooJean Han, Claire J. Tomlin

* Published in the IEEE Transactions on Automatic Control 

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DeepReach: A Deep Learning Approach to High-Dimensional Reachability


Nov 04, 2020
Somil Bansal, Claire Tomlin


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Visual Navigation Among Humans with Optimal Control as a Supervisor


Mar 20, 2020
Varun Tolani, Somil Bansal, Aleksandra Faust, Claire Tomlin

* Project Website: https://smlbansal.github.io/LB-WayPtNav-DH/ 

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Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability


Dec 20, 2019
Anjian Li, Somil Bansal, Georgios Giovanis, Varun Tolani, Claire Tomlin, Mo Chen


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A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning


Oct 29, 2019
Somil Bansal, Andrea Bajcsy, Ellis Ratner, Anca D. Dragan, Claire J. Tomlin


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Closed-loop Model Selection for Kernel-based Models using Bayesian Optimization


Sep 12, 2019
Thomas Beckers, Somil Bansal, Claire J. Tomlin, Sandra Hirche

* IEEE Conference on Decision and Control 2019 

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An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments


May 01, 2019
Andrea Bajcsy, Somil Bansal, Eli Bronstein, Varun Tolani, Claire J. Tomlin


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Combining Optimal Control and Learning for Visual Navigation in Novel Environments


Mar 06, 2019
Somil Bansal, Varun Tolani, Saurabh Gupta, Jitendra Malik, Claire Tomlin

* Project website: https://vtolani95.github.io/WayPtNav/ 

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A New Simulation Metric to Determine Safe Environments and Controllers for Systems with Unknown Dynamics


Feb 27, 2019
Shromona Ghosh, Somil Bansal, Alberto Sangiovanni-Vincentelli, Sanjit A. Seshia, Claire J. Tomlin

* 22nd ACM International Conference on Hybrid Systems: Computation and Control (2019) 

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Context-Specific Validation of Data-Driven Models


Mar 26, 2018
Somil Bansal, Shromona Ghosh, Alberto Sangiovanni-Vincentelli, Sanjit A. Seshia, Claire J. Tomlin


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MBMF: Model-Based Priors for Model-Free Reinforcement Learning


Oct 17, 2017
Somil Bansal, Roberto Calandra, Kurtland Chua, Sergey Levine, Claire Tomlin

* After we submitted the paper for consideration in CoRL 2017 we found a paper published in the recent past with a similar method (see related work for a discussion). Considering the similarities between the two papers, we have decided to retract our paper from CoRL 2017 

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Goal-Driven Dynamics Learning via Bayesian Optimization


Sep 22, 2017
Somil Bansal, Roberto Calandra, Ted Xiao, Sergey Levine, Claire J. Tomlin

* This is the extended version of the CDC'17 paper titled "Goal-Driven Dynamics Learning via Bayesian Optimization." 

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FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning


Mar 21, 2017
Sylvia L. Herbert, Mo Chen, SooJean Han, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin

* Submitted to IEEE Conference on Decision and Control, 2017 

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Learning Quadrotor Dynamics Using Neural Network for Flight Control


Oct 19, 2016
Somil Bansal, Anayo K. Akametalu, Frank J. Jiang, Forrest Laine, Claire J. Tomlin


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