160 citations · 403 across the 56 of their papers we have counts for
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Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability
Anjian Li, Somil Bansal, Georgios Giovanis +3
In Bansal et al. (2019), a novel visual navigation framework that combines learning-based and model-based approaches has been proposed. Specifically, a Convolutional Neural Network…
A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning
Somil Bansal, Andrea Bajcsy, Ellis Ratner +2
Real-world autonomous systems often employ probabilistic predictive models of human behavior during planning to reason about their future motion. Since accurately modeling human be…
Closed-loop Model Selection for Kernel-based Models using Bayesian Optimization
Thomas Beckers, Somil Bansal, Claire J. Tomlin +1
Kernel-based nonparametric models have become very attractive for model-based control approaches for nonlinear systems. However, the selection of the kernel and its hyperparameters…
An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments
Andrea Bajcsy, Somil Bansal, Eli Bronstein +2
Real-world autonomous vehicles often operate in a priori unknown environments. Since most of these systems are safety-critical, it is important to ensure they operate safely in the…
Reachability-Based Safety Guarantees using Efficient Initializations
Sylvia L. Herbert, Shromona Ghosh, Somil Bansal +1
Hamilton-Jacobi-Isaacs (HJI) reachability analysis is a powerful tool for analyzing the safety of autonomous systems. This analysis is computationally intensive and typically perfo…
Combining Optimal Control and Learning for Visual Navigation in Novel Environments
Somil Bansal, Varun Tolani, Saurabh Gupta +2
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challeng…
A New Simulation Metric to Determine Safe Environments and Controllers for Systems with Unknown Dynamics
Shromona Ghosh, Somil Bansal, Alberto Sangiovanni-Vincentelli +2
We consider the problem of extracting safe environments and controllers for reach-avoid objectives for systems with known state and control spaces, but unknown dynamics. In a given…