Shared Autonomy

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Overview

Shared autonomy studies how people and automated systems can jointly control robots, vehicles, and other interactive systems while preserving human intent and agency. Common approaches infer goals from actions or language, blend human commands with learned policies, and use methods such as model-predictive control or control barrier functions to guide actions and enforce safety. Work is evaluated in settings including robotic manipulation, teleoperation, driving, navigation, and drone control, with measures such as task success, workload, safety, and user understanding. A central challenge is deciding when and how much the system should intervene: assistance can improve performance and reduce effort, but poorly timed or opaque actions can conflict with the user or undermine learning and control.

Latest papers

CardsList

38 papers2 papers in the last four weeks, down 60% on the four weeks before. 0.0% of all new papers.

  1. Gaze-Assisted Supervisory Control for Lunar Robotic Arm Teleoperation Under Concurrent Monitoring

    Oct 29, 2026Jiayu He, Yifan Li, Oliver R. Runswick +4Robot TeleoperationRobotics

    Department of Engineering, King’s College London, London, UK · Department of Psychology, Institute of Psychiatry, Psychology and Neuroscience, King’s College London, London, UK · Spacesuit Physiology Laboratory, Centre for Human and Applied Physiological Sciences, King’s College London, London, UK +1

  2. Dream to Assist: Intent-Conditioned World Models for Shared Vehicle Control

    Oct 26, 2026Jonathan DeCastro, Thomas Balch, Emily Sumner +9Shared AutonomyHuman-in-the-Loop AI

    Toyota Research Institute, Cambridge, MA 02139, USA · Toyota Research Institute, Los Altos, CA 94022, USA · Massachusetts Institute of Technology, Cambridge, MA 02139, USA

  3. From Proposal to Execution: Modeling Interaction Semantics in Shared Autonomy

    Oct 18, 2026Shashank Shekhar, Laurent Jeanpierre, Abdel-Illah MouaddibHuman-AI Decision MakingShared Autonomy

    Université de Caen Normandie, GREYC-CNRS UMR 6072, Caen, France

  4. Shared-Control Teleoperation of Omnidirectional Aerial Robots for Continuous Valve Rotation

    Oct 10, 2026Jinjie Li, Yicheng Chen, Haokun Liu +1Robot TeleoperationAerial Manipulation

    DRAGON Lab, Department of Mechanical Engineering, The University of Tokyo, Tokyo 113-8656, Japan

  5. Assisting for Open-Ended Tasks: Goal-Oriented Shared Autonomy as a Particle Filter

    Sep 26, 2026Mengxue Fu, Ethan Xu, Sam Iyer-Singh +3Shared AutonomyAssistive Robotics

    Collaborative Robotics Lab (Collab), Dept. of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061 · RT2 Lab, Dept. of Computer Science, UW-Madison

  6. Capability-Aware Arbitration for Semantic Intent-Based Shared Control

    Sep 21, 2026Zhaoda Du, Michael Bowman, Xiaoli ZhangUncertainty Estimation for VLA ModelsHuman-Robot Collaboration

    Colorado School of Mines, Golden, CO 80401, USA. · University of Pennsylvania, Philadelphia, PA 19104, USA.

  7. Affective Shared Autonomy: Temporal Affect Dynamics and Subjective Evaluation in Bimanual Teleoperation Tasks

    Sep 17, 2026Zhengji Liang, Guiyin Tian, Sijin Qu +2Robot TeleoperationMultimodal Emotion Recognition

    Department of Data and Systems Engineering, The University of Hong Kong, Hong Kong SAR, China. · Department of Electrical and Computer Engineering, The University of Hong Kong, Hong Kong SAR, China.

  8. AI Soccer Analyst: Stage-Aware and Verifiable Human-AI Collaboration for Soccer Data Analysis

    Sep 10, 2026Calvin Yeung, Keisuke FujiiSports AnalyticsHuman-in-the-Loop AI

    Nagoya University Nagoya, Aichi, Japan

  9. Adaptive Shared Control with Online Bounded-Rational Human Behavior Estimation

    Sep 9, 2026Henry Ascencio Trejo, Roel Pieters, Gokhan AlcanHuman-Robot CollaborationShared Autonomy

    Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland

  10. A Cognitive Architecture for Shared Autonomy in AUV Operations

    Aug 29, 2026Niamh Ellis, Thi Tran, Ignacio Carlucho +1Shared AutonomyCognitive Architectures for AI Agents

    School of Informatics, University of Edinburgh, Edinburgh, UK · School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh, UK

  11. From Perception to Assistance: Open-Vocabulary Shared Autonomy for Robotic Manipulation

    Jul 19, 2026Murilo Vinicius da Silva, Ricardo V. Godoy, Juliano Negri +3Language-Conditioned Robot ManipulationRobot Teleoperation

    Department of Mechanical Engineering, University of São Paulo, São Carlos, Brazil · Instituto Israelita de Ensino e Pesquisa Albert Einstein, Hospital Israelita Albert Einstein, São Paulo, Brazil · Graduate School of Information Sciences, Tohoku University, Sendai, Japan.

  12. World-Model-Aware Responsibility Allocation in Heterogeneous Logistics Systems

    Jul 16, 2026Artan Markaj, Niklas Jobs, Felix GehlhoffMulti-Robot CoordinationShared Autonomy

    Eurogate GmbH & Co. KGaA, KG · Hamburg, Germany · Helmut Schmidt University Hamburg

  13. Legible Shared Autonomy: Implicit Communication of Robot Belief through Motion

    Jun 29, 2026Jinwei Liu, Pengfei Li, Shaofeng Chen +2Robotic ManipulationShared Autonomy

    Department of Automation, University of Science and Technology of China, Hefei 230027, China · Department of Automation, Hefei University of Technology, Hefei 230009, China · National Key Laboratory of Autonomous Intelligent Unmanned Systems, Beijing Institute of Technology, Beijing 100081, China

  14. AI Coaching for Accelerating Human Skill Development with Reinforcement Learning

    Jun 24, 2026Wei Wang, Enlin Gu, Antonio Loquercio +2Human-in-the-Loop AIShared Autonomy

    University of Pennsylvania · Johns Hopkins University

  15. Assistron: Bayesian Shared Autonomy with Off-the-shelf Vision-Language-Action Models

    Jun 22, 2026Pinhao Song, Ze Fu, Yutong Hu +1Language-Conditioned Robot ManipulationContact-Rich Robotic Manipulation

    KU Leuven, Dept. Mechanical Engineering, Research unit Robotics, Automation and Mechatronics · KU Leuven, Dept. Electrical Engineering, Research unit Processing Speech and Images

  16. SAPS: Shared Autonomy for Policy Steering by Blending Teleoperation with a Pretrained VLA

    Jun 14, 2026Crystal Zhou, Jehan Yang, Douglas J. Weber +1Robot TeleoperationRobotic Manipulation

    Carnegie Mellon University Pittsburgh, PA, USA

  17. What Is My Robot Thinking? Design Considerations for Transparent and Trustworthy Shared Autonomy

    Jun 5, 2026Atharv Belsare, Zohre Karimi, Connor Mattson +2Trust in HRIShared Autonomy

    Kahlert School of Computing, University of Utah, Salt Lake City, UT, USA. · Robotics Center, University of Utah, Salt Lake City, UT, USA.

  18. Flow-based Policy Adaptation without Policy Updates

    Jun 4, 2026Luzhe Sun, Jingtian Ji, Haoran Chen +2Robot Policy LearningRobot Policy Adaptation

    Toyota Technological Institute at Chicago · Stony Brook University

  19. The Digital Apprentice: A Framework for Human-Directed Agentic AI Development

    Jun 3, 2026Travis Weber, Rohit TanejaAI Agent SafetyHuman-in-the-Loop AI

    Pheo Inc

  20. Flying Together: Human-Guided Immersive Shared Control for Aerial Robot Teams in Unknown Environments

    May 20, 2026Lou De Bel-Air, Luca Morando, Ruitao Chen +7Multi-Robot Motion PlanningAerial Robotics

    New York University, NY 10012, USA · Ecole Polytechnique Federale de Lausanne, Station 9 CH-1015 Lausanne, Switzerland · University of California Berkeley, Department of Electrical Engineering and Computer Sciences, Berkeley, CA 94720, USA

  21. HITL-D: Human In The Loop Diffusion Assisted Shared Control

    May 20, 2026Riley Zilka, Sergey Khlynovskiy, Allie Wang +1Robot TeleoperationDiffusion Policy

    Department of Computing Science, University of Alberta, Edmonton Alberta, Canada, T6G 2E8

  22. Proximal State Nudging: Reducing Skill Atrophy from AI Assistance

    May 19, 2026Megha Srivastava, Jonathan Ouyang, Eric Zhou +6Human-in-the-Loop AIShared Autonomy

    Stanford University, Stanford, CA, USA. · University of California Los Angeles, Los Angeles, CA, USA. · Toyota Research Institute, Los Altos, CA, USA.

  23. AssistDLO: Assistive Teleoperation for Deformable Linear Object Manipulation

    May 7, 2026Berk Guler, Simon Manschitz, Kay Pompetzki +1Bimanual Robotic ManipulationDeformable Object Manipulation

    TU Darmstadt, Institute for Intelligent Autonomous Systems, Computer Science Department, 64289 Darmstadt, Germany · Honda Research Institute Europe GmbH, Carl-Legien-Straße 30, 63073 Offenbach/Main, Germany · German Research Center for AI (DFKI), Research Department: Systems AI for Robot Learning; Hessian.AI; Robotics Institute Germany (RIG); Centre for Cognitive Science, Hochschulstr. 10, 64293 Darmstadt, Germany

  24. Shared Autonomy Assisted by Impedance-Driven Anisotropic Guidance Field

    May 4, 2026Sihan Chen, Hang Xu, Yupu Lu +4Robot TeleoperationShared Autonomy

    School of Computing and Data Science, The University of Hong Kong, Hong Kong, China · School of Engineering, Nanjing University of Information Science and Technology, Nanjing, China

  25. IMPACT-HOI: Supervisory Control for Onset-Anchored Partial HOI Event Construction

    May 3, 2026Haoshen Zhang, Di Wen, Kunyu Peng +12Human-in-the-Loop AnnotationEgocentric Video Understanding

    Karlsruhe Institute of Technology, 76131 Karlsruhe, Germany · INSAIT, Sofia University “St. Kliment Ohridski”, 1784 Sofia, Bulgaria · ETH Zurich, 8092 Zurich, Switzerland +1

  26. Linking Behaviour and Perception to Evaluate Meaningful Human Control over Partially Automated Driving

    May 1, 2026Ashwin George, Lucas Elbert Suryana, Lorenzo Flipse +5Autonomous DrivingHuman-in-the-Loop Evaluation

    Centre for Meaningful Human Control, Delft University of Technology, Mekelweg 2, 2628 CD, Delft, Zuid Holland, The Netherlands · Department of Cognitive Robotics, Delft University of Technology, Mekelweg 2, 2628 CD, Delft, Zuid Holland, The Netherlands · Department of Transport & Planning, Delft University of Technology, Mekelweg 2, 2628 CD, Delft, Zuid Holland, The Netherlands +1

  27. Passive Variable Impedance For Shared Control

    Apr 22, 2026Maximilian Mühlbauer, Nepomuk Werner, Ribin Balachandran +4Impedance ControlFeedback Control

    School of Computation, Information and Technology, Sensor Based Robotic Systems and Intelligent Assistance Systems, Technical University Munich, Friedrich-Ludwig-Bauer-Str. 3, Garching, Germany. · German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC), Münchener Str. 20, 82234 Weßling, Germany.

  28. Towards Multi-Object Nonprehensile Transportation via Shared Teleoperation: A Framework Based on Virtual Object Model Predictive Control

    Apr 8, 2026Xinyang Fan, Zhaoyang Chen, Shu Xin +4Robot TeleoperationDynamic Robotic Manipulation

    State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China. · Advanced Manufacturing Laboratory, Huawei Technologies, Shenzhen 518129, China.

  29. AURA: Multimodal Shared Autonomy for Real-World Urban Navigation

    Apr 2, 2026Yukai Ma, Honglin He, Selina Song +2Shared AutonomyRobot Navigation

    University of California, Los Angeles · Zhejiang University

  30. DiSCo: Diffusion Sequence Copilots for Shared Autonomy

    Mar 24, 2026Andy Wang, Xu Yan, Brandon McMahan +9Shared AutonomyHuman-Robot Collaboration

    University of California, Los Angeles, Los Angeles, USA