# Interaction-Aware Sampling-Based MPC with Learned Local Goal Predictions

arXiv: https://arxiv.org/abs/2309.14931 · HTML: https://mlsanity.com/paper/2309.14931/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Sep 2023.

## Built on by (most cited first, 2 of 2)

- [Towards Generalizable Safety in Crowd Navigation via Conformal Uncertainty Handling](https://mlsanity.com/paper/2508.05634/) (2025)
- [ARMCHAIR: integrated inverse reinforcement learning and model predictive control for human-robot collaboration](https://mlsanity.com/paper/2402.19128/) (2024)

## Abstract (arXiv)

Motion planning for autonomous robots in tight, interaction-rich, and mixed human-robot environments is challenging. State-of-the-art methods typically separate prediction and planning, predicting other agents' trajectories first and then planning the ego agent's motion in the remaining free space. However, agents' lack of awareness of their influence on others can lead to the freezing robot problem. We build upon Interaction-Aware Model Predictive Path Integral (IA-MPPI) control and combine it with learning-based trajectory predictions, thereby relaxing its reliance on communicated short-term goals for other agents. We apply this framework to Autonomous Surface Vessels (ASVs) navigating urban canals. By generating an artificial dataset in real sections of Amsterdam's canals, adapting and training a prediction model for our domain, and proposing heuristics to extract local goals, we enable effective cooperation in planning. Our approach improves autonomous robot navigation in complex, crowded environments, with potential implications for multi-agent systems and human-robot interaction.