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This research advances shared autonomy in remote manipulation by dynamically adjusting robot control levels based on real-time human intent inference using Dynamic Bayesian Networks and Model Predictive Control. The approach significantly reduces task completion time and operator workload while maintaining high perceived control, marking a meaningful step toward more adaptive robotic systems.
Intent-Informed Model Predictive Control for Shared Autonomy in Remote Manipulation Tasks
arXiv:2610.25436v1 Announce Type: new Abstract: Shared autonomy is a control paradigm that combines human cognitive abilities with robot precision to enable effective remote manipulation in complex environments. A key challenge is how to adapt the level of autonomy using information extracted from the human, task, and/or environment. In this paper, we propose a novel arbitration strategy that dynamically adjusts the level of autonomy in the system using the entropy of a belief distribution derived from a multimodal intent inference. Human intent is modeled with a Dynamic Bayesian Network (DBN), which updates beliefs over goals given real-time operator gaze data and robot arm motion during teleoperation. We then formulate the blending of human input and autonomous control as a Model Predictive Control (MPC) problem, where the system's autonomous behavior is guided by the belief distribution. This approach enables continuous, gradual transitions across the full spectrum of autonomy levels, from direct teleoperation to full autonomy. To validate our approach, we conducted experiments to compare the performance of our proposed algorithm against two MPC-based shared autonomy methods. Compared to the baselines, our approach achieved reductions of at least 61% in object retrieval time, 44% in trajectory length, and 60% in human control input. Participants reported high perceived control, predictability, intent recognition, and responsiveness, along with low workload.
Abstract:Shared autonomy is a control paradigm that combines human cognitive abilities with robot precision to enable effective remote manipulation in complex environments. A key challenge is how to adapt the level of autonomy using information extracted from the human, task, and/or environment. In this paper, we propose a novel arbitration strategy that dynamically adjusts the level of autonomy in the system using the entropy of a belief distribution derived from a multimodal intent inference. Human intent is modeled with a Dynamic Bayesian Network (DBN), which updates beliefs over goals given real-time operator gaze data and robot arm motion during teleoperation. We then formulate the blending of human input and autonomous control as a Model Predictive Control (MPC) problem, where the system's autonomous behavior is guided by the belief distribution. This approach enables continuous, gradual transitions across the full spectrum of autonomy levels, from direct teleoperation to full autonomy. To validate our approach, we conducted experiments to compare the performance of our proposed algorithm against two MPC-based shared autonomy methods. Compared to the baselines, our approach achieved reductions of at least 61% in object retrieval time, 44% in trajectory length, and 60% in human control input. Participants reported high perceived control, predictability, intent recognition, and responsiveness, along with low workload.
Robotics (cs.RO)
arXiv:2610.25436 [cs.RO]
(or arXiv:2610.25436v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2610.25436 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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