17 citations · 22 across the 7 of their papers we have counts for
9 papers
geodex: A Library for Motion Planning on Riemannian Manifolds
Phone Thiha Kyaw, Ben Wei, Sepehr Samavi +2
Planning motions that respect the intrinsic geometry of a robot's configuration space, including its curvature and a configuration-dependent notion of cost, yields shorter, lower-e…
SM2ITH: Safe Mobile Manipulation with Interactive Human Prediction via Task-Hierarchical Bilevel Model Predictive Control
Francesco D'Orazio, Sepehr Samavi, Xintong Du +3
Mobile manipulators are designed to perform complex sequences of navigation and manipulation tasks in human-centered environments. While recent optimization-based methods such as H…
Deploying SICNav in the Field: Safe and Interactive Crowd Navigation using MPC and Bilevel Optimization
Sepehr Samavi, Garvish Bhutani, Florian Shkurti +1
Safe and efficient navigation in crowded environments remains a critical challenge for robots that provide a variety of service tasks such as food delivery or autonomous wheelchair…
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…