Christoforos Mavrogiannis

Implicit Communication in Human-Robot Collaborative Transport Open

Elvin Yang, Christoforos Mavrogiannis · 2025

We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordinatio…

ReloPush: Multi-object Rearrangement in Confined Spaces with a Nonholonomic Mobile Robot Pusher Open

Jeeho Ahn, Christoforos Mavrogiannis · 2024

We focus on push-based multi-object rearrangement planning using a nonholonomically constrained mobile robot. The simultaneous geometric, kinematic, and physics constraints make this problem especially challenging. Prior work on rearrangem…

Towards smooth mobile robot deployments in dynamic human environments Open

Christoforos Mavrogiannis · 2024

Recently, there has been great interest in deploying autonomous mobile robots in airports, malls, and hospitals to complete a range of tasks such as delivery, cleaning, and patrolling. The rich context of these environments gives rise to h…

ROB 204: Introduction to Human-Robot Systems at the University of Michigan, Ann Arbor Open

Leia Stirling, Joseph Montgomery, Mark Draelos, Christoforos Mavrogiannis, Lionel Robert , et al. · 2024

The University of Michigan Robotics program focuses on the study of embodied intelligence that must sense, reason, act, and work with people to improve quality of life and productivity equitably across society. ROB 204, part of the core cu…

Characterizing the Complexity of Social Robot Navigation Scenarios Open

Andrew Stratton, Kris Hauser, Christoforos Mavrogiannis · 2024

Social robot navigation algorithms are often demonstrated in overly simplified scenarios, prohibiting the extraction of practical insights about their relevance to real-world domains. Our key insight is that an understanding of the inheren…

Harmonious Mobility for Robots that Work with and around People Open

Christoforos Mavrogiannis · 2024

The integration of advances from machine learning and computer vision with the classical autonomy stack has brought successful robot deployments in fulfilment, manufacturing, and transportation. However, unstructured and dynamic environmen…

Demonstrating HOUND: A Low-cost Research Platform for High-speed Off-road Underactuated Nonholonomic Driving Open

Sidharth Talia, Matt Schmittle, Alexander Lambert, Alexander Spitzer, Christoforos Mavrogiannis , et al. · 2023

Off-road autonomy, crucial for applications such as search-and-rescue, agriculture, and planetary exploration, poses unique problems due to challenging terrains, as well as due to the risk involved in testing or deploying such systems. Acc…

Cook2LTL: Translating Cooking Recipes to LTL Formulae using Large Language Models Open

Angelos Mavrogiannis, Christoforos Mavrogiannis, Yiannis Aloimonos · 2023

Cooking recipes are challenging to translate to robot plans as they feature rich linguistic complexity, temporally-extended interconnected tasks, and an almost infinite space of possible actions. Our key insight is that combining a source …

PuSHR: A Multirobot System for Nonprehensile Rearrangement Open

Sidharth Talia, Arnav Thareja, Christoforos Mavrogiannis, Matt Schmittle, Siddhartha S Srinivasa · 2023

We focus on the problem of rearranging a set of objects with a team of car-like robot pushers built using off-the-shelf components. Maintaining control of pushed objects while avoiding collisions in a tight space demands highly coordinated…

From Crowd Motion Prediction to Robot Navigation in Crowds Open

Sriyash Poddar, Christoforos Mavrogiannis, Siddhartha S Srinivasa · 2023

We focus on robot navigation in crowded environments. To navigate safely and efficiently within crowds, robots need models for crowd motion prediction. Building such models is hard due to the high dimensionality of multiagent domains and t…

Core Challenges of Social Robot Navigation: A Survey Open

Christoforos Mavrogiannis, Francesca Baldini, Allan Wang, Dapeng Zhao, Pete Trautman , et al. · 2023

Robot navigation in crowded public spaces is a complex task that requires addressing a variety of engineering and human factors challenges. These challenges have motivated a great amount of research resulting in important developments for …

Electrostatic Brakes Enable Individual Joint Control of Underactuated, Highly Articulated Robots Open

Patrick Lancaster, Christoforos Mavrogiannis, Siddhartha S Srinivasa, J. R. Smith · 2022

Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high st…

Optical Proximity Sensing for Pose Estimation During In-Hand Manipulation Open

Patrick Lancaster, Pratik Gyawali, Christoforos Mavrogiannis, Siddhartha S Srinivasa, Joshua R. Smith · 2022

During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able t…

Analyzing Multiagent Interactions in Traffic Scenes via Topological Braids Open

Christoforos Mavrogiannis, Jonathan DeCastro, Siddhartha S Srinivasa · 2021

We focus on the problem of analyzing multiagent interactions in traffic domains. Understanding the space of behavior of real-world traffic may offer significant advantages for algorithmic design, data-driven methodologies, and benchmarking…

Topology-Informed Model Predictive Control for Anticipatory Collision Avoidance on a Ballbot. Open

Christoforos Mavrogiannis, Krishna Balasubramanian, Sriyash Poddar, Anush Gandra, Siddhartha S Srinivasa · 2021

We focus on the problem of planning safe and efficient motion for a ballbot (i.e., a dynamically balancing mobile robot), navigating in a crowded environment. The ballbot's design gives rise to human-readable motion which is valuable for c…

Winding Through: Crowd Navigation via Topological Invariance Open

Christoforos Mavrogiannis, Krishna Balasubramanian, Sriyash Poddar, Anush Gandra, Siddhartha S Srinivasa · 2021

We focus on robot navigation in crowded environments. The challenge of predicting the motion of a crowd around a robot makes it hard to ensure human safety and comfort. Recent approaches often employ end-to-end techniques for robot control…

Group-based Motion Prediction for Navigation in Crowded Environments Open

Allan Wang, Christoforos Mavrogiannis, Aaron Steinfeld · 2021

We focus on the problem of planning the motion of a robot in a dynamic multiagent environment such as a pedestrian scene. Enabling the robot to navigate safely and in a socially compliant fashion in such scenes requires a representation th…

Modeling Human Helpfulness with Individual and Contextual Factors for Robot Planning Open

Amal Nanavati, Christoforos Mavrogiannis, Kevin Weatherwax, Leila Takayama, Maya Çakmak , et al. · 2021

Robots deployed in human-populated spaces often need human help to effectively complete their tasks.Yet, a robot that asks for help too frequently or at the wrong times may cause annoyance, and a robot that asks too infrequently may be una…

Core Challenges of Social Robot Navigation: A Survey Open

Christoforos Mavrogiannis, Francesca Baldini, Allan Wang, Dapeng Zhao, Pete Trautman , et al. · 2021

Robot navigation in crowded public spaces is a complex task that requires addressing a variety of engineering and human factors challenges. These challenges have motivated a great amount of research resulting in important developments for …

Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections Open

Junha Roh, Christoforos Mavrogiannis, Rishabh Madan, Siddhartha S Srinivasa · 2020

A pre-trained model of the paper "Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections," CoRL 2020.

Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections Open

Junha Roh, Christoforos Mavrogiannis, Rishabh Madan, Dieter Fox, Siddhartha S Srinivasa · 2020

We focus on decentralized navigation among multiple non-communicating rational agents at \emph{uncontrolled} intersections, i.e., street intersections without traffic signs or signals. Avoiding collisions in such domains relies on the abil…

Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations Open

Liyiming Ke, Ajinkya Kamat, Jingqiang Wang, Tapomayukh Bhattacharjee, Christoforos Mavrogiannis , et al. · 2020

Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery. Applying such a simple tool in a diverse repertoire of scen…

Implicit Multi-Agent Coordination at Unsignalized Intersections via Topological Inference. Open

Christoforos Mavrogiannis, Jonathan DeCastro, Siddhartha S Srinivasa · 2020

We focus on navigation among rational, non-communicating agents at unsignalized street intersections. Following collision-free motion under such settings demands nuanced implicit coordination among agents. Often, the structure of these dom…

Implicit Multiagent Coordination at Unsignalized Intersections via Multimodal Inference Enabled by Topological Braids Open

Christoforos Mavrogiannis, Jonathan DeCastro, Siddhartha S Srinivasa · 2020

We focus on navigation among rational, non-communicating agents at unsignalized street intersections. Following collision-free motion under such settings demands nuanced implicit coordination among agents. Often, the structure of these dom…

Towards Effective Human-AI Teams: The Case of Collaborative Packing Open

Gilwoo Lee, Christoforos Mavrogiannis, Siddhartha S Srinivasa · 2019

We focus on the problem of designing an artificial agent (AI), capable of assisting a human user to complete a task. Our goal is to guide human users towards optimal task performance while keeping their cognitive load as low as possible. O…

Towards Effective Human-AI Teams: The Case of Human-Robot Packing Open

Gilwoo Lee, Christoforos Mavrogiannis, Siddhartha S Srinivasa · 2019

MuSHR: A Low-Cost, Open-Source Robotic Racecar for Education and Research Open

Siddhartha S Srinivasa, Patrick Lancaster, Johan Michalove, Matt Schmittle, Colin Summers , et al. · 2019

We present MuSHR, the Multi-agent System for non-Holonomic Racing. MuSHR is a low-cost, open-source robotic racecar platform for education and research, developed by the Personal Robotics Lab in the Paul G. Allen School of Computer Science…

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