arxivcs.RO2026-07-16
Environment Design for Reliable Shared Autonomy with Probabilistic Guarantees
Yi-Shiuan Tung, Himanshu Gupta, Gyanig Kumar, Heyang Huang, Bradley Hayes, Alessandro Roncone
Shared autonomy enables humans and robots to collaboratively perform tasks by combining human input with autonomous assistance. Most prior work focuses on improving intent inference under a fixed environment, overlooking how workspace design itself affects inference difficulty. W…