17 citations · 22 across the 7 of their papers we have counts for
3 papers · 1 filter
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…