On Optimizing Interventions in Shared Autonomy. (arXiv:2112.09169v2 [cs.AI] UPDATED)

Shared autonomy refers to approaches for enabling an autonomous agent to
collaborate with a human with the aim of improving human performance. However,
besides improving performance, it may often also be beneficial that the agent
concurrently accounts for preserving the user's experience or satisfaction of
collaboration. In order to address this additional goal, we examine approaches
for improving the user experience by constraining the number of interventions
by the autonomous agent. We propose two model-free reinforcement learning
methods that can …

ai arxiv autonomy