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https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494971834548-2DBY3E2ROCRFE36BAH59/image-asset.png Reachability Decomposition https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494972105382-KP4A88VKG9O72MHGI4TX/coupled_control_table.png Reachability Decomposition https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494972539709-8JKNOPVV2KSF9LI5T79S/image-asset.png Reachability Decomposition https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494972856166-TL210DPWLOSKK1R83W1B/image-asset.png Reachability Decomposition https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494973023536-G8RHBIYKRZFPT94WLK05/image-asset.png Reachability Decomposition https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494977904061-F5JDQ0THDX21VGVLE8V9/image-asset.png Reachability Decomposition https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494978109455-SOBZ01K1ZDQL0PTYY2VM/image-asset.png Reachability Decomposition https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494978462407-9D93M6LB4RPHGTM7EMZ9/image-asset.png Reachability Decomposition https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494978689550-OOG5CJC1LEQYM6HVHBGP/approx.gif Reachability Decomposition https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494979500450-JIRT1LOIHSNJM75FVYIT/combo.png Reachability Decomposition https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494980356024-76AIURPF3HQTI891QRLF/image-asset.png Reachability Decomposition https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494980178076-KDRIS9QUWXH2CSHT60PV/traj_clipping.png Reachability Decomposition http://sylviaherbert.com/hamilton-jacobi-reachability-analysis daily 0.75 2026-03-25 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494720087465-DGK4J165SFSK1DH74X55/out.gif Hamilton-Jacobi Reachability Theory An animation of how we produce a reachable set. First the goal (or unsafe set) is defined, shown here as the blue circle. We then create a level set function that is a signed distance function: negative inside the set and positive outside. We propagate this function using HJ reachability for the desired time horizon. Finally, we take the zero slice of this function to produce the reachable set http://sylviaherbert.com/fastrack daily 0.75 2021-12-14 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494724089286-VUT3QW29KWJI6PECZV5O/example_human.gif FaSTrack: Fast and Safe Tracking A nonlinear, ten-dimensional quadrotor simulation navigating an obstacle course in real-time with guaranteed safety. The planner is a 3D RRT planner with a tracking error bound (think safety bubble) based on the speed of the planner. Note that the planner mode changes throughout the course to trade off speed with maneuverability. As the planner senses its environment the local obstacles turn red and the planner replans. https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494973736576-9VZH07X7V71C7SMDALLK/image-asset.png FaSTrack: Fast and Safe Tracking On the left we have a high-dimensional vehicle moving through an obstacle course to a goal. Computing the optimal safe trajectory is a slow and sometimes intractable task, and replanning is nearly impossible. In the center we simplify our model of the vehicle (in this case assuming it can move in straight lines connected at points). This allows us to plan very quickly, but when we execute the planned trajectory we may find that we cannot actually follow the path exactly, and end up crashing. On the right we have our proposal: plan using the simplified model, but precompute a tracking error bound that captures all potential deviations of the trajectory due to model mismatch. https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494974180293-QW5FQOZ0AHL1N16PE4AU/image-asset.png FaSTrack: Fast and Safe Tracking https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494974329336-JRJ1FZBK9XG4K86XXE3U/image-asset.gif FaSTrack: Fast and Safe Tracking The value function initializes at the cost function (normed distance to the origin) and evolves over time to convergence https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494974803485-KWHJ9KRJM3RW3EFX9A9H/TEB_sweep.gif FaSTrack: Fast and Safe Tracking An example of a 3D set at the slice V = 0.75 meters of the value function. We can think of this as a "candidate" tracking error bound. As the set evolves we see the initial states we must start in (purple) in order to stay within the desired bound (blue) https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494975212149-PND4L5AP3GOKVQLUYIYP/online_comp.png FaSTrack: Fast and Safe Tracking https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1511926373982-ZI0T3V16XO93VDWLSBCZ/Figure6.gif FaSTrack: Fast and Safe Tracking https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1511927391757-XFMJMDFNQ7ZIUB9XF0HX/ezgif.com-video-to-gif.gif FaSTrack: Fast and Safe Tracking https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1511928385262-IPNUFHTV7QR4Z1LGI2B0/metaplan.png FaSTrack: Fast and Safe Tracking https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1511928660102-F6MRP1QHR2WCC8YXVIS3/decomposition.png FaSTrack: Fast and Safe Tracking http://sylviaherbert.com/teaching daily 0.75 2024-01-05 http://sylviaherbert.com/robots-humans-safety daily 0.75 2019-06-20 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1560987351405-7CS7P8WQRX9QKLUQFO3A/noisily+rational.gif Confidence-Aware Pedestrian Prediction https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1560987687344-N1Y9FZSFUJRDWWA5OTU1/collision.png Confidence-Aware Pedestrian Prediction https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1560989101906-Q78ZBLPY2QAI6MIQ37O2/bee.gif Confidence-Aware Pedestrian Prediction https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1560989114803-UM28FFGQAB6KKBFM2HBM/bayes.gif Confidence-Aware Pedestrian Prediction http://sylviaherbert.com/resources-for-speaking-engagements daily 0.75 2025-11-25 http://sylviaherbert.com/resources-applying-faculty daily 0.75 2025-11-25 http://sylviaherbert.com/faculty-application-advice daily 0.75 2026-01-20 http://sylviaherbert.com/join-us daily 0.75 2023-09-14 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602185728532-79Q3HN563RT7ZHI4559R/UCSD-UC-San-Diego.jpg Join Us! http://sylviaherbert.com/people daily 0.75 2026-03-07 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1632512405865-2E3NC524UK4JQOKCC6Y6/DSC_0283.jpg People https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1665440846077-8GVSUJSFSC56C8QQTIOU/nikhil.jpeg People - 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Ethan Foss, MS (PhD student, Stanford University) https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1699567530750-ZOJHZGT6KZXYEGRNBE70/NathanCussonNadeau.jpg People - Nathan Cusson-Nadeau, MS (GNC/R&D Engineer, Alare Technologies) https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1689117650166-OXN7JK4GWW6FRD6YJ64M/Rachit.jpg People - Rachit Chhabra, MS (Autonomous Driving Team, Qualcomm) https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1689117602673-27CCBJQJZD5TT2WX26SN/ChongHe.jpeg People - Chong He, MS (PhD student, Simon Fraser University) https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1680888074041-DGUWTR4H5EBW3DFTJ26Y/Alex.jpeg People - Alex Toofanian, MS (Technical PM, Braincorp) https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1689117734853-Q3FEB6U8V51I7N2P5NST/daniel.jpeg People - Daniel Maldonado-Naranjo, BS (PhD student, MIT) https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/e6166c4c-666e-433b-892d-6c203700725b/abby.jpg People - Make it stand out Whatever it is, the way you tell your story online can make all the difference. http://sylviaherbert.com/safety-applications daily 0.75 2020-10-12 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534870181-PL8WAZEV0WYX2A49KU6K/nasa.png Safety Applications https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534736077-IIK73SARCJFX29VFPYZA/renewable.png Safety Applications https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534733467-QB9SDIZTEPGSRI54LEYS/chemical+plants.png Safety Applications https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534740332-HMV2FKVPIH8KVM50MCZQ/biological+systems.png Safety Applications https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534749877-UTMARNH5QXY6RSLZ5APY/manufacturing.png Safety Applications https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534772937-D6NC7MY28TV70R4MB7AN/hri.png Safety Applications https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534752183-FU6030L8X5GS4ORMLV82/driving.png Safety Applications https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534755838-L0DY4RNKFBWM0F2933WF/medical.png Safety Applications https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534760621-BH7FEHAXHUZC7H2T9JQ4/skydio.png Safety Applications https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534741702-GSG6902GF5IQ0HEK7JXP/medical+devices.png Safety Applications http://sylviaherbert.com/safe-learning-via-warmstarting daily 0.75 2023-01-12 http://sylviaherbert.com/fellowships daily 0.75 2020-11-18 http://sylviaherbert.com/calendar daily 0.75 2023-08-25 http://sylviaherbert.com/daniel-maldonadonaranjo daily 0.75 2023-07-11 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1665442949315-ELDAZE2G0AJ0SXRELJA9/daniel.jpg Daniel Maldonado-Naranjo http://sylviaherbert.com/nikhil daily 0.75 2025-08-15 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1632511808702-8W4C5IN2LIAKCAV7H0IN/nikhil.jpg Nikhil Shinde https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/f0d1e6b3-629c-45a2-abf0-802ad23d6660/Screenshot+2025-03-12+at+10.59.59%E2%80%AFAM.png Nikhil Shinde - Make it stand out Selecting actions for a surgical robot to both infer tissue structure (e.g. sutured regions) while maintaining safety (without damaging the tissue) https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/d11275a5-ff81-40da-a206-244f653221bd/Screenshot+2025-03-12+at+11.00.07%E2%80%AFAM.png Nikhil Shinde - Make it stand out Safe online learning for interaction: composing object-centric Gaussian process regression to interact with objects safely despite uncertainty in the interaction http://sylviaherbert.com/sander daily 0.75 2025-08-15 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/5bd1bb8a-699a-45ab-88aa-e8887d7708d1/202112_SanderTonkens.jpeg Sander Tonkens https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/c176118d-d7f9-4fa5-a87f-ffa984c60626/Screenshot+2025-03-12+at+11.06.23%E2%80%AFAM.png Sander Tonkens - Make it stand out Refining Data-Driven Control Barrier Functions: An approximate control barrier function and its resulting safe set (visualized above) can be refined based on new information or knowledge of the system. Each iteration improves safety and reduces conservativeness. https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/0d139d81-7e3a-4bd7-9cb3-9d8239f86060/Screenshot+2025-03-12+at+11.06.29%E2%80%AFAM.jpg Sander Tonkens - Make it stand out Contingency planning: the policy planner (blue AV) implicitly nudges a non-controlled AV (red) to change lanes upon detecting the blocked lane (scenario A), which can be viewed as the cooperative strategy. However, the decision tree retains the ability to yield at a later time once the red agent is identified as being non-cooperative (scenario C) http://sylviaherbert.com/chong-he daily 0.75 2024-07-08 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1665522775477-LBTD3RYNGM4AV94SO198/ChongHe.jpeg Chong He http://sylviaherbert.com/clvf daily 0.75 2022-12-19 http://sylviaherbert.com/zheng-gong daily 0.75 2025-03-12 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/5e767005-5812-4229-8e5e-a16bbc400a88/zheng.jpeg Zheng Gong https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/df067509-34db-4393-8e5e-78ef7e8e0589/Screenshot+2025-03-12+at+11.10.13%E2%80%AFAM.png Zheng Gong - Make it stand out Control Lyapunov Value Functions: A constructive and general method for producing control Lyapunov-like functions that stabilize to an equilibrium (or control invariant set) at a user-defined rate https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/0628b9ca-7c5e-4420-a4a5-5d7c8dead7fe/Screenshot+2025-03-12+at+11.09.33%E2%80%AFAM.png Zheng Gong - Make it stand out Decomposition (+ Composition) of Value Functions: Decomposing coupled dynamic models to generate smaller value functions in each subspace that can be composed to find the backward reachable set (BRS) for a goal or an obstacle https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/9c758eb0-52e1-407b-9fb3-207eef6e182e/Screenshot+2025-03-12+at+11.09.38%E2%80%AFAM.png Zheng Gong - Make it stand out Safety in Reinforcement Learning: Improving the optimization procedure for reinforcement learning with hard and soft safety constraints using reachability estimation http://sylviaherbert.com/boyang daily 0.75 2025-03-12 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1665440843778-74MTCMB64WGC044WA4JH/boyang.jpeg Boyang Li https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/93c7ef19-b327-4720-a97f-fb59656cbfc9/Screenshot+2025-03-12+at+11.17.08%E2%80%AFAM.png Boyang Li - Make it stand out Value Functions for Robust Control Invariance: Analysis between methods from Hamilton-Jacobi reachability analysis and control barrier functions to generate value functions that enforce control invariance https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/7094b0f5-f4c0-4396-9548-1d4115f6ad57/Screenshot+2025-03-12+at+11.17.22%E2%80%AFAM.png Boyang Li - Make it stand out Safe & stabilizing online control: A framework wherein a nonlinear robotic system tracks a simplified planning model via a control Lyapunov-like function that ensures stabilization to the planned path despite sudden real or artificial disturbances http://sylviaherbert.com/alex-toofanian daily 0.75 2023-07-11 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1665442740109-5OWDYYJJ8F96S3JD45E2/Alex.jpg Alex Toofanian http://sylviaherbert.com/matthew-kim daily 0.75 2024-10-29 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1665442935656-GC25A047QS0NRCBWK02J/matthew.jpeg Matthew Kim http://sylviaherbert.com/nathan-cusson-nadeau daily 0.75 2023-11-09 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/8c0b5818-5c0a-4017-aa7b-d14fb0bd0836/NathanCussonNadeau.jpg Nathan Cusson-Nadeau http://sylviaherbert.com/will-sharpless daily 0.75 2025-03-12 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/fe66e7fb-04c0-49ca-9ab5-e5ac77b53696/will.jpeg Will Sharpless https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/8329a90a-7a2c-4f37-b18d-2248b1821887/Screenshot+2025-03-12+at+11.12.47%E2%80%AFAM.png Will Sharpless - Make it stand out High-Dimensional Physics-Informed Machine Learning: Advancing methods for semi-supervised learning the solution to differential games using physics-informed neural networks (PINNs). On the left is a 50D nonlinear problem (top row is the baseline, bottom rows are our method). On the right is a quadrotor experiment with 99.9% probabilistic safety guarantees. https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/8b741aea-d5ac-4f51-8e6c-e8d3561bb2be/Screenshot+2025-03-12+at+11.12.52%E2%80%AFAM.png Will Sharpless - Make it stand out Efficient Linear Reachability with Guarantees for Nonlinear Dynamics: A method to linearize a nonlinear control system wherein the linearization error is treated as an adversarial disturbance in Hopf reachability analysis to provide guaranteed conservative (green) sets to reach a goal or avoid an obstacle http://sylviaherbert.com/judy-mohamad daily 0.75 2022-10-10 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/4093b138-1d21-4374-83f6-0f67ab4a4540/judy.png Judy Mohamad http://sylviaherbert.com/rachit-chhabra daily 0.75 2023-07-11 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1665442739902-B9XTXBZS5XOMIGPHM26E/Rachit.jpg Rachit Chhabra http://sylviaherbert.com/refinecbf daily 0.75 2023-01-13 http://sylviaherbert.com/zihang-he daily 0.75 2023-04-07 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/11cd7e9e-d46c-428a-a4d9-efb23b0e5b71/14601680856743_.pic_hd.jpg Zihang He http://sylviaherbert.com/join-us-copy daily 0.75 2023-05-19 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602185728532-79Q3HN563RT7ZHI4559R/UCSD-UC-San-Diego.jpg Join Us! (Copy) http://sylviaherbert.com/tao-wang daily 0.75 2023-05-24 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/fdb8a528-b090-4f9b-9c57-325ca3893ce2/Photo.png Tao Wang http://sylviaherbert.com/sosuke-kojima daily 0.75 2023-09-12 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1a5d6722-d08a-4c49-bdb0-b1cadfb6481f/lab_pfp.jpg Sosuke Kojima http://sylviaherbert.com/joe-jeong daily 0.75 2024-01-24 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/a7ccca17-6910-4bae-9c68-d1d3e7eaf4a4/IMG_0020.jpg Joe Jeong http://sylviaherbert.com/azra-begzadic daily 0.75 2026-01-21 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/5153f6ed-d96c-497a-ad20-20a2ea39f26c/sd_p.png Azra Begzadic https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/6624f362-38a0-4a08-acbb-d89f96e7cafc/Screenshot+2025-03-12+at+11.20.40%E2%80%AFAM.png Azra Begzadic - Make it stand out Event-triggered learning for safe control: This framework uses event-triggered learning, which switches between prioritizing control performance and improving model accuracy based on the uncertainty of the learned model. https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/f69f06f1-8ee9-4bc8-b185-f53bad0eb555/Screenshot+2025-03-12+at+11.20.51%E2%80%AFAM.png Azra Begzadic - Make it stand out Safe reinforcement learning with reach-avoid safety filters: Using reach-avoid sets to minimally override the RL process while ensuring the system (a) maintains safety and (b) returns to its base configuration at the end of the horizon. http://sylviaherbert.com/dylan-hirsch daily 0.75 2025-03-12 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/642ad008-01d1-4fa9-93c7-d76d8286025e/DCH+2x2+headshot.jpeg Dylan Hirsch https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/ccf66eac-33a0-4b6a-8f24-32c56aed79e5/Screenshot+2025-03-12+at+11.23.29%E2%80%AFAM.png Dylan Hirsch - Make it stand out Reduced order modeling for differential games: Decomposing “fast” and “slow” dynamics for scalable computation of high-dimensional nonlinear systems, e.g. large-scale biological systems https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/02335f7a-1faa-4560-ac8a-a24edd74d740/Screenshot+2025-03-12+at+11.23.34%E2%80%AFAM.png Dylan Hirsch - Make it stand out Non-anticipative strategies in differential games: An analysis of how different strategies affect guarantees in Hamilton-Jacobi reachability analysis http://sylviaherbert.com/ethan-foss daily 0.75 2024-06-03 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/74b59235-30cc-4a41-a90b-70540bbb8e0f/Ehtanphoto.JPG Ethan Foss http://sylviaherbert.com/sanat-samal daily 0.75 2023-10-02 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/51fd57a5-8767-4791-be4a-a536d3a949d1/sanat.jpeg Sanat Samal http://sylviaherbert.com/animesh-kumar daily 0.75 2023-10-11 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/92fc6b02-5146-44b6-9854-01dc04762ae0/IMG-0051-Original.jpg Animesh Kumar http://sylviaherbert.com/hopf-error daily 0.75 2023-12-01 http://sylviaherbert.com/colleen-wang daily 0.75 2024-04-03 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/bcd838d1-17e6-45c3-8167-88d2eab4fa18/Colleen.png Colleen Wang http://sylviaherbert.com/yeiry-melendez daily 0.75 2024-04-03 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/cd1d45ee-3761-463f-8570-37c219b7bde0/Yeiry.png Yeiry Melendez http://sylviaherbert.com/chenhao-liu daily 0.75 2025-04-01 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/fa93eeb0-e4bf-49ff-8051-2a6c9ba4cfbc/chenhao.jpg Chenhao Liu http://sylviaherbert.com/marfred-barrera daily 0.75 2024-09-16 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/fc3e9fd7-3f7e-460b-8ce4-6a189a45dd5b/IMG_5871.jpg Marfred Barrera http://sylviaherbert.com/aditya-singh daily 0.75 2024-09-26 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/29875bac-d998-413f-a119-7b29b228d94d/Image+from+iOS+%284%29.jpg Aditya Singh http://sylviaherbert.com/alex-la daily 0.75 2024-09-27 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/f5872c0f-fd82-4141-8bb9-c54f14b19530/IMG_4950.jpg Alex La http://sylviaherbert.com/charlie-lahey daily 0.75 2024-10-15 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/622857b3-ecca-4968-855b-35674813e0a9/charlie+headshot.JPG Charlie Lahey http://sylviaherbert.com/trevor-matthews daily 0.75 2024-11-25 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/00c2296b-b49d-4a1b-89f5-411a867089d1/IMG_4228.jpg Trevor Matthews http://sylviaherbert.com/kaustubh-kanagalekar daily 0.75 2024-11-25 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/3fd6c096-b6f2-4a54-b693-be44e188a002/Image+from+iOS+%285%29.jpg 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http://sylviaherbert.com/annie-yang daily 0.75 2025-03-19 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/dcccf2ce-2f60-44a2-9d78-4f7cef3f1915/IMG_1728.JPG Annie Yang http://sylviaherbert.com/test daily 0.75 2025-05-09 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1494720087465-DGK4J165SFSK1DH74X55/out.gif test An animation of how we produce a reachable set. First the goal (or unsafe set) is defined, shown here as the blue circle. We then create a level set function that is a signed distance function: negative inside the set and positive outside. We propagate this function using HJ reachability for the desired time horizon. Finally, we take the zero slice of this function to produce the reachable set http://sylviaherbert.com/hrithik-yash daily 0.75 2025-06-19 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/09c5eadc-7f4b-4cb1-80c9-ffaf70251aab/hrithik.png Hrithik Yash http://sylviaherbert.com/ryan-teoh daily 0.75 2025-06-27 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/84ac19d8-be02-419a-86fb-9c1bc17fb116/IMG_6557.jpg Ryan Teoh http://sylviaherbert.com/janna-lin daily 0.75 2025-08-19 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/5470a9e5-4309-4764-bb8b-ef6a0c6c9205/173d110ec244b6973c1eb2091d5b6922+%281%29.jpg Janna Lin http://sylviaherbert.com/haixin-jin daily 0.75 2025-07-18 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/20b94cff-85be-4e4e-bd46-f7c84fc2fafa/knockout.jpg Haixin Jin http://sylviaherbert.com/luis-martinez daily 0.75 2025-08-14 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/094c59f9-5128-442b-8eb0-c9ef854c6dd9/Luis+Photo.png Luis Martinez http://sylviaherbert.com/mahesh-kumar daily 0.75 2025-09-24 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/0c7c015e-1b47-4b4b-80fa-434c03705446/IMG_4043.jpg Mahesh Kumar http://sylviaherbert.com/tenure-advice daily 0.75 2026-01-20 http://sylviaherbert.com/eli-liang daily 0.75 2026-03-07 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/9023f09c-2c04-4ddc-8b45-85c8c4b0c286/self.png Eli Liang http://sylviaherbert.com/safe-learning-and-decisionmaking daily 0.75 2026-03-25 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534870181-PL8WAZEV0WYX2A49KU6K/nasa.png Safe Learning and Decision-Making https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534736077-IIK73SARCJFX29VFPYZA/renewable.png Safe Learning and Decision-Making https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534733467-QB9SDIZTEPGSRI54LEYS/chemical+plants.png Safe Learning and Decision-Making https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534740332-HMV2FKVPIH8KVM50MCZQ/biological+systems.png Safe Learning and Decision-Making https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534749877-UTMARNH5QXY6RSLZ5APY/manufacturing.png Safe Learning and Decision-Making https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534772937-D6NC7MY28TV70R4MB7AN/hri.png Safe Learning and Decision-Making https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534752183-FU6030L8X5GS4ORMLV82/driving.png Safe Learning and Decision-Making https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534755838-L0DY4RNKFBWM0F2933WF/medical.png Safe Learning and Decision-Making https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534760621-BH7FEHAXHUZC7H2T9JQ4/skydio.png Safe Learning and Decision-Making https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534741702-GSG6902GF5IQ0HEK7JXP/medical+devices.png Safe Learning and Decision-Making http://sylviaherbert.com/robustness-and-dynamic-games-1 daily 0.75 2026-03-25 https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534870181-PL8WAZEV0WYX2A49KU6K/nasa.png Robustness and Dynamic Games https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534736077-IIK73SARCJFX29VFPYZA/renewable.png Robustness and Dynamic Games https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534733467-QB9SDIZTEPGSRI54LEYS/chemical+plants.png Robustness and Dynamic Games https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534740332-HMV2FKVPIH8KVM50MCZQ/biological+systems.png Robustness and Dynamic Games https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534749877-UTMARNH5QXY6RSLZ5APY/manufacturing.png Robustness and Dynamic Games https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534772937-D6NC7MY28TV70R4MB7AN/hri.png Robustness and Dynamic Games https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534752183-FU6030L8X5GS4ORMLV82/driving.png Robustness and Dynamic Games https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534755838-L0DY4RNKFBWM0F2933WF/medical.png Robustness and Dynamic Games https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534760621-BH7FEHAXHUZC7H2T9JQ4/skydio.png Robustness and Dynamic Games https://images.squarespace-cdn.com/content/v1/5164717ee4b09befa7e93fbf/1602534741702-GSG6902GF5IQ0HEK7JXP/medical+devices.png Robustness and Dynamic Games