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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…
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…
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: 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…