robotics
Shared Control Checked Whether the Robot Could Help
Intent confidence alone caused over-helping when autonomous execution was weak.
Summary
Intent confidence alone caused over-helping when autonomous execution was weak.
A shared-control system paired a language model's estimate of human intent with an online estimate of a robot policy's own capability. In a 12-participant pick-and-place and stacking study, capability-aware arbitration reached 92% task success, versus 83% for manual teleoperation, 44% for intent-only arbitration and 10% for fixed equal weighting. The capability signal came from variation in sampled action trajectories. The small, specific study supports the design principle rather than a general safety guarantee.
Why it matters
Intent confidence alone caused over-helping when autonomous execution was weak.
Limits and context
- In a 12-participant pick-and-place and stacking study, capability-aware arbitration reached 92% task success, versus 83% for manual teleoperation, 44% for intent-only arbitration and 10% for fixed equal weighting.
Key claims
Intent confidence alone caused over-helping when autonomous execution was weak.
Qualification: In a 12-participant pick-and-place and stacking study, capability-aware arbitration reached 92% task success, versus 83% for manual teleoperation, 44% for intent-only arbitration and 10% for fixed equal weighting.
Evidence: source-2026-09-23-010
Sources
- arXiv preprint 2609.25369arXiv · primary research
Corrections
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