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simmediummobile-manipulationmetric · varies
SM2ITH: Safe Mobile Manipulation with Interactive Human Prediction via Task-Hierarchical Bilevel Model Predictive Control
Description
Mobile manipulators are designed to perform complex sequences of navigation and manipulation tasks in human-centered environments. While recent optimization-based methods such as Hierarchical Task Model Predictive Control (HTMPC) enable efficient multitask execution with strict task priorities, they have so far been applied mainly to static or structured scenarios. Extending these approaches to dynamic human-centered environments requires predictive models that capture how humans react to the ac