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A Synergy Map fuses motion evidence with an occupancy grid to rank likely interaction areas during navigation. After arrival, perception merges U\n                    <jats:inline-formula>\n                      <jats:alternatives>\n                        <jats:tex-math>$$^{2}$$<\/jats:tex-math>\n                        <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                          <mml:mmultiscripts>\n                            <mml:mrow\/>\n                            <mml:mrow\/>\n                            <mml:mn>2<\/mml:mn>\n                          <\/mml:mmultiscripts>\n                        <\/mml:math>\n                      <\/jats:alternatives>\n                    <\/jats:inline-formula>\n                    -Net and FastSAM saliency with three geometric grasp-feasibility tests; an end-effector kinematics-aware update then evolves object probabilities in real time. In 100 teleoperation trials (20 participants\n                    <jats:inline-formula>\n                      <jats:alternatives>\n                        <jats:tex-math>$$\\times $$<\/jats:tex-math>\n                        <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                          <mml:mo>\u00d7<\/mml:mo>\n                        <\/mml:math>\n                      <\/jats:alternatives>\n                    <\/jats:inline-formula>\n                    5 tasks) in Isaac Sim, GUIDER outperformed baselines. During navigation, median stability was 100% across tasks (BOIR, the baseline, had an overall median of 89.85%), with large gains under redirection (BOIR 59.67\u201363.49% in T2\/T5). During manipulation, median stability was 100% in all tasks, while Trajectron (manipulation baseline) dropped to 62.68% for tool grasping (T4). GUIDER yielded earlier confident object predictions in geometry-constrained settings (T5: 20.31\u00a0s remaining vs 3.89\u00a0s). Ablations confirm the need for the multi-horizon synergy map, the grasp-feasibility checks, and temporal end-effector probability evolution. GUIDER provides a unified probabilistic backbone spanning base and arm, supporting future variable-autonomy controllers.\n                  <\/jats:p>","DOI":"10.1007\/s10846-026-02362-4","type":"journal-article","created":{"date-parts":[[2026,3,5]],"date-time":"2026-03-05T13:04:53Z","timestamp":1772715893000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Probabilistic Human Intent Prediction for Mobile Manipulation: An Evaluation with Human-Inspired Constraints"],"prefix":"10.1007","volume":"112","author":[{"ORCID":"https:\/\/orcid.org\/0009-0005-2866-8672","authenticated-orcid":false,"given":"Cesar Alan","family":"Contreras","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9779-4067","authenticated-orcid":false,"given":"Manolis","family":"Chiou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4264-6857","authenticated-orcid":false,"given":"Alireza","family":"Rastegarpanah","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Michal","family":"Szulik","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0890-8836","authenticated-orcid":false,"given":"Rustam","family":"Stolkin","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,3,5]]},"reference":[{"key":"2362_CR1","doi-asserted-by":"publisher","first-page":"1540476","DOI":"10.3389\/frobt.2025.1540476","volume":"12","author":"CA Contreras","year":"2025","unstructured":"Contreras, C.A., Rastegarpanah, A., Chiou, M., Stolkin, R.: A mini-review on mobile manipulators with variable autonomy. 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