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- University of TorontoCA238 papers
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24 papers · 1 filter
MATTERIX: toward a digital twin for robotics-assisted chemistry laboratory automation
Kourosh Darvish, Arjun Sohal, Abhijoy Mandal +20
Accelerated materials discovery is critical for addressing global challenges. However, developing new laboratory workflows relies heavily on real-world experimental trials, and thi…
RAISE: A self-driving laboratory for interfacial property formulation discovery
Mohammad Nazeri, Sheldon Mei, Jeffrey Watchorn +7
Surface wettability is a critical design parameter for biomedical devices, coatings, and textiles. Contact angle measurements quantify liquid-surface interactions, which depend str…
SICNav-Diffusion: Safe and Interactive Crowd Navigation with Diffusion Trajectory Predictions
Sepehr Samavi, Anthony Lem, Fumiaki Sato +5
To navigate crowds without collisions, robots must interact with humans by forecasting their future motion and reacting accordingly. While learning-based prediction models have sho…
SICNav: Safe and Interactive Crowd Navigation using Model Predictive Control and Bilevel Optimization
Sepehr Samavi, James R. Han, Florian Shkurti +1
Robots need to predict and react to human motions to navigate through a crowd without collisions. Many existing methods decouple prediction from planning, which does not account fo…
Does Unpredictability Influence Driving Behavior?
Sepehr Samavi, Florian Shkurti, Angela P. Schoellig
In this paper we investigate the effect of the unpredictability of surrounding cars on an ego-car performing a driving maneuver. We use Maximum Entropy Inverse Reinforcement Learni…
Keep it Upright: Model Predictive Control for Nonprehensile Object Transportation with Obstacle Avoidance on a Mobile Manipulator
Adam Heins, Angela P. Schoellig
We consider a nonprehensile manipulation task in which a mobile manipulator must balance objects on its end effector without grasping them -- known as the waiter's problem -- and m…