IAGF-SA adds a physically-grounded channel to shared autonomy by modulating robot impedance to convey intent, improving task performance, agreement, and user experience in three scenarios per user studies.
Residual policy learning for shared autonomy
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Shared Autonomy Assisted by Impedance-Driven Anisotropic Guidance Field
IAGF-SA adds a physically-grounded channel to shared autonomy by modulating robot impedance to convey intent, improving task performance, agreement, and user experience in three scenarios per user studies.