Environment Design for Reliable Shared Autonomy with Probabilistic Guarantees

arXiv:2607.15487v1 Announce Type: new Abstract: Shared autonomy enables humans and robots to collaboratively perform tasks by combining human input with autonomous assistance. Most prior work focuses on improving intent inference under a fixed environment, overlooking how workspace design itself affects inference difficulty. We observe that the physical arrangement of objects directly influences the separability of candidate goals under noisy user inputs. We formulate workspace design as an opt