Assisting for Open-Ended Tasks: Goal-Oriented Shared Autonomy as a Particle Filter

arXiv:2609.32576 · cs.RO · Submitted 2026-09-26 · Read on arXiv

cs.RO

Submitted: 2026-09-26

Updated: 2026-09-26

Terminology

• Foundation Model — 8× in this paper · explained in 3 episodes
• Foundation Models — 7× in this paper · explained in 7 episodes
• Alignment — 6× in this paper · explained in 1 episode
• Bayesian Inference — 3× in this paper · explained in 5 episodes
• Steering — 3× in this paper · explained in 2 episodes
• Cosine Similarity — 2× in this paper · explained in 3 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Actio — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes

Sources

• Efficient and Reliable Teleoperation through Real-to-Sim-to-Real Shared Autonomy
• Flow-based Policy Adaptation without Policy Updates
• SAPS: Shared Autonomy for Policy Steering by Blending Teleoperation with a Pretrained VLA
• IntentVLM: Open-Vocabulary Intention Recognition through Forward-Inverse Modeling with Video-Language Models
• From Perception to Assistance: Open-Vocabulary Shared Autonomy for Robotic Manipulation

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