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Somil Bansal

DualGuard MPPI: Safe and Performant Optimal Control by Combining Sampling-Based MPC and Hamilton-Jacobi Reachability

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Feb 04, 2025
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One Filter to Deploy Them All: Robust Safety for Quadrupedal Navigation in Unknown Environments

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Dec 13, 2024
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Enhancing Safety and Robustness of Vision-Based Controllers via Reachability Analysis

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Oct 29, 2024
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System-Level Safety Monitoring and Recovery for Perception Failures in Autonomous Vehicles

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Sep 26, 2024
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Updating Robot Safety Representations Online from Natural Language Feedback

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Sep 22, 2024
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Cooptimizing Safety and Performance with a Control-Constrained Formulation

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Sep 10, 2024
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Stable-BC: Controlling Covariate Shift with Stable Behavior Cloning

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Aug 12, 2024
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Parameterized Fast and Safe Tracking (FaSTrack) using Deepreach

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Apr 11, 2024
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SAFE-GIL: SAFEty Guided Imitation Learning

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Apr 08, 2024
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Imposing Exact Safety Specifications in Neural Reachable Tubes

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Mar 31, 2024
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