160 citations · 403 across the 56 of their papers we have counts for
5 papers · 1 filter
Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis
Kaustav Chakraborty, Somil Bansal
Machine learning driven image-based controllers allow robotic systems to take intelligent actions based on the visual feedback from their environment. Understanding when these cont…
Online Update of Safety Assurances Using Confidence-Based Predictions
Kensuke Nakamura, Somil Bansal
Robots such as autonomous vehicles and assistive manipulators are increasingly operating in dynamic environments and close physical proximity to people. In such scenarios, the robo…
Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online
Javier Borquez, Kensuke Nakamura, Somil Bansal
Hamilton-Jacobi (HJ) reachability analysis is a powerful tool for analyzing the safety of autonomous systems. However, the provided safety assurances are often predicated on the as…
Generating Formal Safety Assurances for High-Dimensional Reachability
Albert Lin, Somil Bansal
Providing formal safety and performance guarantees for autonomous systems is becoming increasingly important. Hamilton-Jacobi (HJ) reachability analysis is a popular formal verific…
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots
Jason J. Choi, Ayush Agrawal, Koushil Sreenath +2
Contact-rich robotic systems, such as legged robots and manipulators, are often represented as hybrid systems. However, the stability analysis and region-of-attraction computation…