Intentional User Adaptation to Shared Control Assistance

摘要: Shared control approaches to robot assistance, which predict a user's goal based on their control input and provide autonomous assistance towards the predicted goal, typically assume that user behavior remains the same despite the presence of the assistance and rely on this assumption to infer user goals. However, people operating assisted systems continuously observe the robot behaving differently from their expectations, which may lead them to adapt their control behavior to better achieve their desired outcomes. In this paper, we show that users both change their control behavior when assistance is added and describe these changes as responses to the new system dynamics. In a computer-based bubble popping study, participants report changing their strategies with different levels of assistance, and analysis of their actual control input validates this change. In an in-the-wild robot study, participants …